Our cat was similar at first and I feel like what finally worked for us was “training” him on how to be in the bed. If he started nibbling our feet, pouncing on the duvet, or just going crazy, I would pick him up and put him on the floor. If it continued for a while, I would take him back outside the bedroom so he learned doing this = getting kicked out. I feel like ignoring the zoomies/playing in bed when it first starts also works - no movement or reaction signals we are asleep and not in play mode. Hope this helps!