“Don’t do that”

We were having a discussion with in laws and mentioned about how our son only sleeps well when we let him come snuggle us for a bit and they were quick to tell us no. They acted like we said we let him play with matches or something. They said if we do that he will never learn and he will want to cuddle in our bed forever. Honestly, if my child comes to me saying “Mommy, I’m scared. Can I sleep in here tonight?” I want them to feel safe and like we’re always there for them. My father in law then went on to tell us “You just have to leave and let him cry” and when we said “We’re not really comfortable doing that” he just said “You have to” and I bit my tongue but I wanted to say “We’re his parents and decide what is best for him. And we don’t ‘have’ to do anything. If he gets scared and needs us to comfort him before putting him back to sleep, I’ll do it.” Grr. It makes me so mad. I hate when people try and tell you how you have to parent your child.