9 week old sleep

My baby is 9 weeks old and we co sleep. I am sure it’s not the best but it’s what works best for us- he sleeps longer & I know he’s safe and okay with me. My fiancé thinks it’s time to transition him to his crib but I keep pushing it off & do not feel ready at all. My son reaches for me in the middle of the night & I never want him to wake up & feel like I left him or something… any thoughts/tips?

*I grew up with a not so great childhood so I never want my son to feel any type of way…just lots of love.