HELP ME SLEEP

So I have become my baby's sleep crutch. This kid is like clingwrap on me when it comes to sleep. He's been refusing to sleep in his cot for about 4 months now and its gotten to the point where he's not even happy with sleeping in our bed, now he just wants to sleep ON TOP of me or as close as he can possibly get. I can't even get up for a pee without him waking up screaming.

HOW do I fix this??

I've tried putting him in his cot and letting him cry a bit but he just gets so hysterical that we have to pick him up. My husband keeps trying to put him in his cot after he falls asleep but I think that's why he's becoming so clingy.

I just need some space, please help..