No worries. You didn't mess up....you bonded...and that will serve him well through his entire life. Breathe.
He can still fall asleep on you and then move him to the side of you and he'll get use to the feeling of a bed/harder surface...but he's still feel you breathe, smell you and hear you. Thie transition might take a week or so, or less. Then move away by 6 inches or a foot....and continue that process.
Then you should be able to start getting his to sleep next to you and slowly change that if you want.
Our daughter who is 21 months, (we co-slept will all of our babies until about 19 months will all of them) just the past 2 nights, I have laid her down in her own bed and own room and she asks for a blanket....and puts herself to sleep. Our older boys sleep in the same bed. Who doesn't like to sleep alone???
They are all different....so listen to your intution about your own child. Good luck. Our transitions were easy....we were all ready, for the most part. ;)