When is it safe to co sleep

Hello glow mommies, my baby is a week shy from turning 8 months we've always co slept meaning baby sleeps in his crib but stays in our room.. lately my baby has not been wanting to sleep in his crib it feels like almost every night I go to sleep until 3 am until baby decides to go down in his crib... he sleeps so well while in my bed 'I'm awake at that time' but I'm too scared to co sleep with him next to me.. my baby already rolls over to tummy and back and prefers to sleep on his tummy I don't worry about that in his crib because we do have a breathable mattress for him.. im curious when did you start co sleeping with your baby in your bed..?