S.H.
When he gets older, it gets better.
Does he have a Lovey??? If not, let him have one. Or several. My kids have several.
at 2 years old, kids commonly have sleep tweaks. It passes.
Their cognition/imaginations are changing... and even at this age, they do still have needs for "bonding" with their parents.
Your son seems like my kids... cozy cuddly types at bedtime, talking about their day to you before bed. My kids still do that. I cherish it.
But as for you laying next to him, even if on the floor... it will phase out... as he gets older. Both my kids did. I went through that too. ALL my friends did too. But its no biggie to me. My son, now 4, still sometimes likes for me to lay with him before bed. But its less and less. One day... they will no longer need you.
Either that, or you go the hardcore route. Putting a gate on his door, crying it out, tough love. Its up to you.