I like the way it was played. He may not have put you all in on the turn because he was worried about someone with a higher straight(holding 58) but more than likely he didn't because he is a moron.

Limping in with a small pair with the hopes of flopping a set is the way I generally play them too. The set comes on the flop and the board is rainbow so there's no flush threat. There is a possible straight on the flop if someone has 56 but I like the half pot flop bet. RiverTrout get his straight on the turn(unbelievable, who plays 52 offsuit UTG ?!?).

Fortunately you took down the pot in the end with the full house.