When does co sleeping become not dangerous anymore?

I have a 9 week old baby and we practice safe sleep, he sleeps in his bassinet with a tight fitted sheet and in a halo sleep sack, but I always find myself really wishing I could snuggle him and have him sleep with his daddy and I. I will continue to follow safe sleep guidelines, but I’m wondering at what age does it become okay? I figure it’s alright for a toddler to sleep in their parents bed once in a while right?