As you prepare him for bed tell him he's a big boy and is going to sleep in his own bed from now on.
You sent him to the bathroom to pee, put him in his bed, leave a hallway light on if he needs, get a cup of water so he doesn't need to get up or to call you.
Then, pray with him and go to your room.
If he gets up, you don't say a word, just walk him back to his room and put him in his bed.
Do this as many times as it takes for a few nights & he'll understand that you mean what you said the first time & he'll stop pushing it.
He's only doing what you allow him to do. When you get a system together & stick to it, he'll do the same because it's what's expected & enforced.