Baby won't sleep alone how do I break the habit?

Any one can put him to sleep. But as soon as you put him down he screams. If you put him to sleep in bed and you get out he screams. Example when he is in bed with me and I get up in the middle if the night to pee he screams out. When I lay him in his bed and get in mine he will climb out and come to the edge of my bed crying. And its not just me. He does it with his grandma dad baby sitter... He is nine months. And I can't break the habit . Its as bad as he will not even sleep on a long ride in the car because that means sleeping alone in the car seat instead he will cry the while time. Help and please excuse any typos... Using swype on my phone :)