I'd cuddle with my kid that age watching TV or something, reading a book to him or listening to him read to me, but not sleeping the whole night.
My son wanted to sleep in my bed when my husband traveled for business, because he hates being alone anyway. But he was a lot younger, and I put a stop to it around age 6 or 7. Can't remember now. But that was mostly because he'd have to be laying up against me like a little heat-a-lator, even though it's a huge bed, and I can't sleep like that. It would honestly feel weird to me now.