Sleep issues with kids

Hey everybody. I need advice, my three year old (4 in August) is such a pain to put to bed. He always wants daddy to sleep with him so my husband lays down with him till he falls asleep than sneaks out. But by 11-12 o’clock we head pitter patter and he’s in our bed. We try saying no Huxley go to your own bed, but the kid freaks out and refuses to.

My husband is loosing his mind over it because neither of us get a decent sleep with our son in our bed. Anyone want to shoot me some advice of changing this horrid habit he does ?