Many people around the world sleep with their children. I am not saying you should, but that children are not as disturbed as you are by sex. They seem to ignore it or sleep through it. The point is to wait until they are asleep, and perhaps don't go out of your way to be noisy.
However, the problem you want to solve is to get your child to sleep in his own bed. There are dozens of books on sleep and as it is a personal preference, you might try going to the library and reading expert opinions, until you find something you are comfortable with doing. Then go buy that book and follow it.
There are also books for kids that help them to fall asleep. here's one
At two it is still difficult to reason with your child. He doesn't understand. You need to sleep as I assume that one or both of you work. Don't start anything on any night where sleep is important to you. Once you start making a demand you have to follow through, even if that means no sleep for you.
I think I might try putting the child in his own bed, reading with him and sleeping in the same room while the other parent sleeps in their own room. Take turns with your spouse but make sure you both follow the exact same routine. The child never leaves his room and one of you stays until the routine that he sleeps in that room is established. He might crawl into sleep with you, that is not the first issue. On a weekend or holiday when you do not have to sleep, keep returning him to his bed and stay quiet and calm. "This is where you sleep. I am right here. I love you." You may have to repeat this for many days or weeks. Once you feel the place to sleep is established and when you do not need sleep, move the floor mattress into the hallway outside of his room. You are still there. But not in his room. If he falls asleep on the floor -- it's fine, it will not harm him. If he opens the door, you calmly and quietly put him to bed. "This is where you sleep. I am right here. I love you." As he ages and finds that you are right there, I think he will start to prefer his own room. Once both parents have returned to your bed, if your child arrives, you must say something like, "This is where Mother and Father sleep. This is our bed." Gently carry him to his own bed. "This is where you sleep. I am right here. I love you."
You could consider once there has been a successful night of him staying in his room, giving your child a reward for staying in his own bed. This is a time or activity reward, no food or toys or anything that costs money. Use praise not anger. It is not a terrible thing that your child wants to be close to you. You will train him to be more independent, but not by forcing the issue. Gentle loving with a firm hand is the best recipe, imo.