K.Z.
If your son is crying, why would you not go to him? Don't make him fall asleep crying for you, then sleep will not be comforting for him. He might even come to fear it. Which would suck as we all need sleep!
If he is not sleepy, why make him go to bed? I don't get why people do this. Maybe his body clock is such that he has lots of energy at night and has trouble calming down. What do you do to help him calm down? Make sure he has a way to burn off energy before going to bed. Running around, wrestling, jumping, playing in the bath tub, or whatever works for your family, maybe even a walk around the block (with baby in a sling, lots of babies get fussier in the evenings and being outside helps). It seems like we (American parents mostly) are too quick to push our children away and that saddens me (and the kids too I'm sure).
There is no right or wrong answer for any parenting question. I hope that you try to see things from his point of view sometimes if not all the time. He is young and wants to be close to his parents. Don't look at it as "bad" behavior, it is natural for offspring to stay close to their parents. It helps them feel safe and they imitate your behaviors, good and bad.
What's with the reading 3 books? Why 3? I love to read and sometimes my son falls asleep during the first book, other times we read 10 and I am falling asleep! Forget Supernanny and her advice; she doesn't even have children of her own. You should not be crying in another room. I feel so bad for parents thinking this is the only way to raise a child.
Read something that will help you have more empathy for the place your son is at in this world. Maybe Alfie Kohn's Unconditional Parenting or Gordon Newfeld's Hold Onto Your Kids. Try loosening up a little, on yourself too! Life is too short!