Sabrinia,
What a cute son you have! He is 20 mo. old, well, my son used to collect my ponytail holders and collect them above his bunk bed, he slept in the bottom bed and above him were boards with slits in them so he was able to stuff them and every night he would take the one out of my hair. Your son is just needing some security. Gradually change his bedtime routine. Step by step until he gets used to it. Set a timer and say time to brush teeth, go potty, (use his terms), Use a puppet and let the puppet talk to him and say how he wants to be his friend. Read a book to him and you are reading to puppet and your son. You have to use your imagination, what your son says, it's your cue to say the thing back that will make him think he is ok to sleep with Goober the puppet???? This will take time. Maybe find books about going to bed to read to him. What are other things you can think of that make him feel secure? Lights,soft music? Be creative and gradual, its work, but worth it in the end. Good luck. It will happen, there is hope.
Be Consistent! Which ever one of you put him in bed, has to do the same routine, dads voice is different for the puppet,but this is ok, if he says anything, just say, tonight is my low voice. Plus, you will be very surprised when he starts telling the puppet how he is feeling. You can learn a lot.
DE
DE