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Right now, with out a divorce decree or other court order that requires the ex to comply with your request, there is not much that you can do unilaterally. You first have to file a petition to modify the visitation order and ask for the relief that you are requesting. The court will require you to prove up that having separate beds is in the best interest of the child or that not not having separate beds is somehow harmful to the child's welfare and development. This will require an expert opinion such as that from a family therapist and/or a medical doctor.
Upon receiving such evidence the court can then issue an order to force him to use separate beds.
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