We get into similar problems every time we take a trip where DS stays in the hotel/guest room with us. He loves having mommy and daddy nearby when he is falling asleep! We have to be pretty firm after we get home, to get him to go back to the usual routine (enter room, kiss, firm instruction to stay in bed and go to sleep, leave, repeat multiple times on multiple nights until he gives up). We've never let him cry it out, and he did have some pretty bad sleep problems when he was younger, but they finally resolved with time. The turning point was when he was right about 2 yrs and I went out of town, leaving DH to do the wakings... once DS realized he was going to get daddy instead of mommy every time, his incentive to stay awake went way down. :) I think you are right in not wanting your son to get used to company (as much as I love being near DS when he's sleeping, I do think it makes our problem worse later on!).
Good luck, I hope you get some sleep soon!!
Edit: I forgot to mention that before he turned two, and during some illnesses afterward, I did sometimes sleep on a twin bed in his room. It was hard to extract myself afterward, but it kept him in his crib, it was more comfortable than the floor, and it was the only way I was able to get sleep at that time.