Your son is probably ready to be moved to a bed, but this is not the main reason for his sleep problem. The problem may have started off with night terrors which are common at this age.Now he knows that if he cries long enough you will take him into your bed.As he is fine when you put him back in his cot when he is asleep, he does not seem to be having the night terrors any more.You could start him off in his own bed now and make a fuss about what a big boy he is and also you should read to him before he falls asleep. If he wakes up and starts crying you should not take him into your bed, hard as this may be for you.He should be allowed to cry for longer and longer peiods.Set a limit on the time, each time adding a minute to the crying time before going to him. Just go to him each time, reassure him, kiss him good night and leave the room. Eventually he will get the message and stay in his bed.
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