I'm also one for saying 'gentle hands' and 'gentle pats'. My DD is excellent at being gentle. She's a fair bit older though. I think at 11 months your best bet is to ignore and/or distract (depending on the behaviour).
As for sleeping in your bed. If you don't want him in there, don't bring him in. There's nothing wrong with co-sleeping, as long as it's working for everyone involved. It may take a couple of weeks, but you'll be grateful in the long run. I would be gradually reducing your input on his sleep. Maybe cuddle at first, then keep him in his cot and pat him, then slowly withdraw from the room. This would take place over a few weeks I guess. You just need to be firm and consistent with whatever you decide to do.