You're counting everything from dinner onward as the bedtime routine, when really, the routine for bedtime should be much shorter so you can do it in a pinch if it's later than normal. I'd only call your books-bed-snuggle as the real bedtime routine. Everything dinner to snacks is part of your evening, and you may be giving him food too close to bedtime in the snack part. If he's getting food less than 2 hours before bedtime, he's likely getting too much energy from the food (this isn't from some grand source I can point you to, but from my own experience with my kids). You could move his snack to earlier in the evening and add another evening activity, like art time, to take up the time before bed, if snacktime is usually less than two hours from bedtime. If my kids were doing this, I would change the bedtime routine altogether and let them know earlier in the day about it.
I'd change the routine and say something like this: "we have new bedtime rules! We read two books, say two things we liked about the day, get goodnight-snuggles for two songs, then go to sleep. We all need lots of good sleep and the new bedtime rules will help everybody be happy." I might even point out that we are doing it in 2's because he's 2 years old. I'd give him the spiel a few times during the day, then let him be involved... let him pick the books, pick the songs, etc. The first few days we set any new routines, the kids would pitch fits, sometimes major, sometimes minor. After the first few days of sticking it out, they get it and even begin to like it. Other notes - at my house the bedtime routine would more realistically be something like this: go potty, brush teeth, jammies on, two books, DS gets in bed, mom turns off lights, we say two things we liked about the day, snuggles for two songs, dad comes in for "good night," mom says "good night," mom and dad leave. This is too long of a routine to verbalize for a 26-month old and doesn't have the nice sound of all the 2's listed like they were. He'll pick up on the rest of the routine as you do it, but focusing on something like the 2's, which might make sense to him, can help him get used to the idea. Also, when he calls you back in, in the first few nights, be ready and willing to go in and kiss him a few times, but after 3 times or so, I'd say, "we're all done with the bedtime rules and now we all need to go to sleep! I can't come in anymore. I love you, good night." He'll keep calling, I'd call back that we're going to bed and I love him, good night, for a few times. He'll likely pitch a fit the first night or 2 (or 3), but I wouldn't go back in because we have to follow the "rules." After he stopped the fit, at which point he's likely asleep, I'd go in and tuck him in again. In the morning, I'd talk about how great I slept because of the rules and ask him how he slept.
That's what I'd do.
Another thought, which isn't something I've done often with my kids for calming them but works great for me personally, is meditation before bed. I did this when my first son started having nightmares and it worked great. You could teach him to meditate, slow his breathing and such and imagine what he wants to dream about. When I started doing this with DS1, I would instruct him to close his eyes and take a deep breath, doing it myself, then I would tell him that he can decide what he wants to dream about and I'd encourage him to think about the things he wants to dream about, giving examples. This may help and it may not, for your purposes. After all, I usually mention things like playing at the park, playing with grandma, playing in water, flying through the trees like a bird, eating yummy food, etc. All this could be stimulating instead of relaxing. So you might have to come up with something that isn't quite so exciting for him but still good to dream about.