My LO hates sleeping with me

I find this kind of funny. We don’t normally co-sleep—I only bring him into bed with me after his second wake-up of the night. He usually wakes up twice, and only rarely wakes up just once.
When he was younger, he would fall asleep simply by lying next to me. Now he’s 5 months old, and after sleeping peacefully beside me for a while, this kid starts throwing hands and feet at me 😂 But if I transfer him to his crib or get out of the bed, he peacefully continues sleeping.
Is anyone else’s baby like this?