Baby refuses to follow safe sleep guidelines...do I let him be a rebel?

So, I have a three week old who is apparently as punk as I am and won't follow the rules for sleep.

I wasn't originally going to cosleep, but he doesn't sleep if we put him down in a crib (classic for newborns, I know). For the sake of my mental health we decided to cosleep and it's been great, six or sometimes seven hours at night and I nap with him in the afternoon. But! He refuses to follow the Safe Sleep 7 stuff. He won't stay put on his back, only sleeps on his side. He won't stay in his little safe zone on the outside of the bed, he scoots right up into my chin and lays on my pillow.

He can't really roll yet, but he has just enough coordination to wiggle himself into all these places, and he cries and won't sleep if I move him back into the safer positions. With all the guidelines I've gotten from OBs, midwives, pregnancy outreach programs and other moms, I worry I'm being irresponsible when it's 2 am and I just let him sleep where he wants rather than fight it. Am I overthinking this and he'll be fine? Or should I be more strict about it? And if I'm more strict, how the hell do I sleep myself?