If you find yourself getting irritable and not getting enough sleep due to this then I recommend cosleeping. It is easier to pat their legs or massage them when the baby is near while at the same time you are comfortably lying beside him.

Slowly ween him to sleep in his crib during daytime when you are well rested and you have more energy. There are babies that are too clingy and my first born is like that. I think he likes to hear the sound of my heartbeat because he gets irritated when I put him to bed. His preferred mode of sleeping is with me carrying him. I could still recall those exhausting moments. It will pass.