No, you aren't a bad Mom! We all make choices that we question. My youngest son spent a LOT of nights in the swing when he was about 2 months old. He was just so happy and would sleep in there so long. We asked the DR about it and he said it wasn't bad for the baby, but a bad habit to get into. So, we changed it...for the most part ;)
Our older son was moved to a big boy bed at about 28 months. He was a great sleeper and not a climber, so we left him in his crib until then. We just decided that it was time for a big boy bed.
I think you just need to break the couch habit. Put your daughter to bed and whenever she gets out, silently put her back in. We did this with our son for the first three nights. It took about 45 minutes the first night and went down after that. Then, he was fine and still is (he's about 32 months). But, the key for us was to NOT let him win. My husband and I took turns and just kept putting him back in bed. Yea, it was a game at times. Yea, he cried at times. Yea, he threw his teddy's and pillow on the floor. But, we stuck to it.
We've never let our son in our bed to sleep. We've let him come in and put Blues Clues or Thomas on the TV. We've cuddled with him and his baby brother on our bed. We've even played with him on the bed. In all honesty, he's never slept anywhere except the car seat and his own bed (or his pack and play).
I think if you try to move her back to her bed and stick with it, you will be successful. It may take a few days and some dedication, but I think it will work.
Good luck!
EDITED TO ADD: You know, I want to say that I agree with Karen. Whatever works for you and your husband is the best method. I mentioned that we don't let our son in our bed because that's what my husband and I agree on. I'm all for co-sleeping if that's what works best in your house. I'm all for sleeping in your kids room on the floor if it works (I've done it before).