I think, at 4, they can handle a pillow. However, the best way to know is to simply ask your child. Ask him to try what it feels like with a pillow and without a pillow. Then, which one feels better? He may say with and then decide to change his mind in the middle of the night, then you'll have your answer. Ideally, one would position something behind the neck to provide support and prevent straining and sore muscles the next day. However, this all depends on the person, typical sleeping position, and overall preference among other factors. Not everyone has to have a pillow to feel comfortable.
You said " I want the best for him," and that by far is the best custom to follow
The best for him is whatever makes your son feel comfortable.