Puppy Won't Sleep with Others
Perhaps there is something about the cool kitchen floor that he likes. My suggestion is that if he isn't going to get into anything in the kitchen (i.e., you "baby proof it"), then perhaps that's be the best place for him.
A second suggestion is to try a cage. My dog has slept in a cage since she was a pup (now 4 years old). At first I felt bad about it but it actually brings her comfort. When I've allowed her to sleep outside of her cage, she never slept on my bed. I think because it's too hot. With a cage, the floor is plastic and cool. Maybe you're dog would find some comfort in sleeping in a cage. I also like the previous response to your post that taking him for a walk before bedtime might wear him out so he can sleep better.