I don't understand why he can't be in the bedroom. He wants to be with you. If he goes under your bed he will eventually come out. I think you get up every twenty minutes is encouraging the behavior. If you want him to stop you are going to have to one to two weeks with totally ignoring him. If he isn't getting a reaction out of you and no attention he may just stop the behavior.
Also, he may be lonely. A friend may help/ or it may not. It is hard to tell every cat is different.
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PHMoxie

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