Dear Glenna,
You are doing the right thing by seeing to it that your son does the normal things for children his age, even when he doesn't want to. If you allow him to refrain from normal activities, he will not acquire the skill and comfort to handle them.
Relative to his sleeping, adopt the same approach. That is, insist that he fall asleep on his own and in his own bed. Of course, do this in a supportive, encouraging way, but be firm and decisive about it. If you don't help him to do this, just as in any other activity he will be less likely to master it. He needs your support in learning this new behavior.