Once I got the hang of it, I started lying down to nurse E at night. He likes to fall asleep snuggled with me after this. What's more, it's his favorite way to sleep. The crib is a distant second. At three weeks old, he already knows how to get what he wants. If I try to nurse him at night sitting up, or put him in the crib at night, no dice. He wants the bed.
I felt bad about this initially, but at least two people with multiple children have sworn up and down that you won't roll over on the baby, and this seems to be true. In fact, I woke up a few times feeling stiff from being in the same position - it seemed as if my body was determined not to roll over on him.
I think all three of us slept much better.