J.G.
So normal! It is so common for kids at this age to want Mommy or Daddy with them as they are falling asleep. It really helps them feel safe and secure. He is not manipulating you at all. He is just letting you know that he needs you to comfort him and reassure him. Nighttime can be very scary. They are learning and growing and their imaginations are growing and when it's quiet and they are alone they can be very frightened.
I know it's exhausting, but it is just so important for you to be there for him. If you do this for him for a few nights or even a couple of weeks, you should be able to gradually leave the room before his is asleep. You can stay with him for a little while and then say, "Mommy needs to go potty, but I'll be right back," or "I'm going to take the clothes out of the dryer, and then I'll come right back." Always come right back. As he gets used to this, you can gradually increase the times. Eventually, he will fall asleep on your own.
Work with him. If he feels safe and knows that you are there for him, he will become more comfortable and learn to fall asleep on his own.
Hang in there, but he really does need you right now.