Someone please explain co-sleeping!

So the first week we had my son at home after he was born, he slept in the crook of my arm or right next to me in bed. I literally couldn't from fear of something happening to him. Then around the 2nd week he started sleeping in a cosleeping bed bed we found that we put in between my husband and I, which was awful because it left hardly any room in our queen size bed, but at least it felt safe! Then at 3 or 4 months he was too mobile to be in the cosleeper so we put him in a bassinet at the foot of our bed, until 6 or 7 months when we moved him to a crib in his own room. He is now a year od and a lot of nights I MISS HIM, and our bedroom doesn't have room for a crib...😥 Part of me kinda wished he could have just stayed in our bed, I just don't get how people do it safely with a mobile infant, especially when they start crawling! Like what if they fall off the bed, or pull the blankets over their face. I would be constantly stressed. Please explain how you do it! We are talking about baby #2 so I would love to know!! Thanks!