Baby sleeping in crib

So husband told me last night that he misses me and having our bed to ourselves because our almost 6mo still sleeps with us. I get that but it’s not like it has really been a problem as far as our sex life is concerned... anyway I’m just wondering if anyone has any tips as far as how to deal with the anxiety about putting baby in their crib. I’ll have a baby monitor but his room is on the other side of the house and I’m just nervous... like the thought of him sleeping in his bed makes me depressed... this is my first and only baby and I just want to hang onto every precious moment I can. How do I get through it?