Now to think about a plan. Timing. How I tell him.

I think you just do it, not announce it. Actions, not words.

Heather, I think you should live the way you wish to. This may not be easy, but... If he's uncomfortable with you in the bed, leave it up to him to change beds. If he makes it uncomfortable for you, tell him to leave the room. IOW, continually put the onus on him.