2 1/2 month old won't sleep without me

Since birth my baby boy will not sleep without being in my arms, on my chest, or next to me in my bed. He is 2 and a half months old. My family lives 2 hours away so I don't get much help with him. Anytime he is in deep sleep if I lay him on his back he will wake up after 10 to 15 minutes sometimes even sooner.. he sleeps on his tummy occasionally but I will only let him if he's supervised, pediatrician said that is fine. Is this a phase he will eventually grow out of? Any tips? Need some advice! He does not tolerate a swing or bouncy seat either.. 10 to 15 min of it and he's had enough :( I don't mind sleeping with him but I'm just worried for safety reasons.. especially since he's getting older and starting to move around more.