Still coming into my bed /room

So my son turns 4 on June 12th and he keeps wanting to sleep in my bed or on my bedroom floor. We didn't co sleep but as an infant of he fell asleep on our chest we would let him sleep there. The last time he slept in my room was when me my husband and him had COVID and that was so long ago. ( Yes we got the vax) other wise we make him sleep in his bed in his own room also he has a projector tv with an onn hook up for cartoons. He has all he needs but in the middle of the night me or my husband nearly step on him or we trip over him because he is sleeping on our floor. Or he pushes me out the bed. He starts in his room but ends in ours. What can I do to stop it. Note that I wouldn't mind him in my bed but I have arthritis in my lower spine and me n hubby only have a queen bed.