We have Rowdy (1 year old) and Rex (11 weeks old).
Rowdy slept in the crate next to our bed with no crying until my husband decided he wanted him to sleep with us at about 5 months old. He did great - no accidents at all.
Then we got Rex (from Rowdy's parents, one year later). Rex went into the crate beside the bed for the first 7 nights - not one bit of crying - I was so proud of him. THEN, I think he figured out that my husband and I, Rowdy, and the senior dog were all in the bed right beside him and so on the 8th night, he cried and cried and cried for 3 hours. I had to make a several hour drive the next morning, so I put him in bed with me so I could get some sleep. I made a "pillow" bed for him. We have a king sized bed and I put him between my husand and my pillows and then put a pillow at about our shoulders (between Rex and the foot of the bed. In essence he was surrounded by the wall at the top and pillows on the other 3 sides. Of course, he could crawl over the pillows, but he didn't because he was so happy to be "with us". He snuggled right down and went to sleep and slept all night. I was so scared that he would pee though, that I didn't sleep as much. But he didn't have an accident!!! The several hour drive was to our country house where we were staying with some other folks and I took Rex and Rowdy. My husband and I sleep on 2 twin beds and since there were others sleeping in the room right next to us - I didn't want to try to crate Rex and have him crying again, so I put him in the bed with me - between me and the wall. Once again, he did GREAT and the rest is history, so to speak
He has slept with us ever since. I do put blankets on the floor around the bed, in case he gets up and falls off - which he did once when I got up and went to the bathroom, I think he followed me and didn't know that he would fall off. He was fine though, landing on the blankets - but then our bed is not very tall.
He has slept through the night, every night for 3 weeks with no accidents (fingers tightly crossed)
Good luck, I know it is hard, but it will get better!!!