Fell asleep with baby in bed and freaked out

My husband takes nights and last night I woke up and leaned back to touch my husband and couldn’t tell what was on my back so I turned around to look. I immediately shot up seeing that it was our baby and my husband had fallen asleep with him in his arms/on his chest. The baby had fallen slightly off his chest to where his head only was on the bed and was what I felt when I leaned back. I shook my husband awake and grabbed the baby and put him in his bassinet. First I want to say that my husband took this seriously and talked to me about it in depth and apologized. He is a very helpful and attentive dad. I got very upset and when I said ‘he could die like this, this is how people accidentally suffocate their newborns’ my husband apologized and told me that it would never happen again and he understands the gravity of the situation. We talked about there being safe cosleeping measures people take and that we could plan for that if we are just that tired and worried about falling asleep on another night like that, but that this was absolutely unacceptable and can never happen again. I cried. I felt better to get back to sleep eventually but waking up this morning I am absolutely still in a panic and want to cry again. Please don’t comment to shame him or us. We are already upset at ourselves.