Just as an aside, this bit of gibberish keeps coming up on some posts, IDK what that's about or what it means, but it's really distracting.
If your V is unaccustomed to something, he will react characteristically as you describe, it's a combo of excitement and submission and anxiety. So, you'd need to reassure and train for the new situation, have him come and sit/stay, and be reassuring. With time, he'll settle.
Although I am a proponent of bed sharing for a lot of reasons, be aware that guilt on your part is probably not a good reason. First, they do take up a fair amount of space and a lot people do not appreciate that. And, once they get accustomed to co sleeping it is hard to have them go back. So, think this one through carefully. Recall that they do not experience space as we do, so especially in your case where he isn't complaining about the crate it might be best to leave well enough alone.