If you are bottle feeding then yes, your friends are right. It isn't considered safe to bedshare unless you are breastfeeding your baby.
Have you looked at his routine vs the sample ones on the forum FAQs? I'd start there. Does he sleep anywhere else, eg sling, buggy, car? If so I'd use those props to get him into a good routine and work on getting at least one crib nap a day.
You may need to be more forceful than I am to get him into his crib all night. There's a great plan in Pantley's No Cry Sleep Solution, if you've read that.
In the meantime please make sure you are following all the safety guidelines if he does end up in bed with you.