Are you able to just read to him and snuggle until he drops off to sleep?
I've always felt it to be important that bedtime be a comforting time for my kids. We all look forward to bedtime and it's not a struggle. My 18 month old will come take my hand and pull me to the bedroom when she's ready, if I haven't initiated things myself by about 8 o:clock.
We cuddle together and read books for awhile. Then we just snuggle quietly until she's asleep. Because they are relaxed and consider sleepy time to be a safe and wonderful part of their day, it never takes more than about 15 minutes. At that point I can go do my own thing or hang with my husband for awhile.
I think it's pretty normal and natural for a toddler aged child to want to be with his parents as he drifts off to sleep. I'm sure my kids would have come looking for me if I wasn't there with them too. Of course they would.
I"m sure it would take a period of transition for your little one to relearn the bedtime experience. But it's been well worth it as bedtime is one of the most precious, shared parts of our day. And we have avoided any sense of anger or frustration around bedtime with which I see other families struggle.
I hope you won't think that hitting/hurting your child to force him to stay by himself, or locking him in to cry alone on the bedroom floor all night seem like reasonable ideas.