To Sleep, Perchance To Have The Crap Kicked Out Of Me

I've always known you aren't supposed to let your kids sleep with you. Even Dr. Phil says it's a bad idea.
I'm not sure how the Boy weasled his way into bed with me. But he's there, and he's determined he's not going anywhere.
He kicks A LOT. He moves around A LOT. It makes it a little hard to sleep.
Here is a pic of the Boy from last night. When I left him, he was on the other side of the bed, with his head pointing in the other direction. This was how I found him an hour later.
I've given up on getting him out of my bed for now. I figure he'll want to be in his own bed eventually. That happens, right? There are no 16 year old boys who sleep with their moms, right?