Safe cosleeping question

So 99% of the time baby sleeps in his crib but there are nights where he’s just not a great sleeper, whether it’s regression, teething or whatever. I would sometimes cosleep. There was a long bit where he would wake up at 4am and not go back to sleep unless we coslept. But now that he’s crawling!!! He will not lay next to me???
I bought a Japanese floor bed. It’s honestly so comfy lol, and I tried to lay him next to me to go back to sleep. But as soon as he realizes he doesn’t have a crib surrounding him, he’s up and moving around. I’ve only tried a couple of times since I got it but how do I get him to sleep on the floor bed?? Should I just get a full bed rail setup and have him crawl around until he goes back to sleep? I’m so confused lol