Toddler bed?

Okay, so we're trying to troubleshoot what we can do to make bedtime easier for our 21 month old. He's been having a terrible time going down for bed and naps, but especially bedtime. Along general fussiness and normal toddler behavior when you don't want to go to bed, we've noticed something. He still wants to be snuggled, but not held or sitting in his chair. As soon as we turn on his sound machine, he lays himself down on the floor. Tonight he squirmed off my lap and I let him go just to see what he'd do and he laid himself down on the floor again. I feel like he would have fallen asleep there if I hadn't picked him up. He has a Convertible Crib so we can turn it into a toddler bed. We're going to do it and see if he'll have an easier time if he can put himself into his bed. Thoughts? He doesn't try to get out of his crib during the night or anything but did this sound like something he'd benefit from?