Toddler Co sleeping safety

My son started sleeping in our bed around 8 months of age when he was really struggling to sleep away from me. We all got more sleep this way so we followed the 'safe sleep seven' and had no issues. He's 2 years old now and will still wake up in the middle of the night saying 'mommy's bed' and I go get him and he falls right back to sleep in our bed. This isn't an issue for us though I understand some parents cringe at the idea.

My only issue is that I'm a very paranoid person and I still worry about him at night. I often wake briefly to check on him in the side of me. Are we past the stage that I'd need to worry? Is he old enough that I can finally ease up on my fears a little? We don't use heavy blankets, we don't have a lot of pillows, etc.