Join the club! If my LO pulls those shenanigans when it's nap time I put him in his crib, tell him I love him, then leave the room. 20 min of crying isn't a lot to me, especially since your LO is a little older but that's just my opinion. If you've ruled out illness and nothing else seems wrong except typical nap fighting then I would just leave him.
When I put my LO down for a nap, he stays there for 1 hour. What he chooses to do with that time is up to him. Luckily he sleeps because he knows that's what he's supposed to do and he's tired for crying out loud! :)
Oh, also, there are plenty of times my LO falls asleep after drinking a bottle but I feel it's fine. Doesn't affect his ability to fall asleep without a bottle so I'm not worried.