Is it okay to wake my bearded dragon up when I get home at night?

I highly not recommend doing this because that's a way of causing salmonella and with him being that small, i'd suggest that you let him sleep in his enclosure it'll be safer for both you and the beardie, this is a reptile and an animal that is cold-blooded and not some mammal or bird that'll cuddle up right next to you all the time, he just lays there because of your body heat to get warm as you've listed above but one day you'll find that lizard gone (REALLY!) i'm not sure if your a light sleeper or what not but if you are or if you're not, you won't know if that lizard will still be there every morning and possibly one day you could find him crushed up under your body, injuring or possibly killing your beloved pet or he could somehow escape but i'm glad that you love your pet and i'm pretty sure you try your best to give him the best care as possible but this is something you should not do with an animal that belongs living within enclosures or more likely a REPTILE! it'll only create more problems and get you and maybe him a disease.