S.W.
I just want to say that there is nothing wrong with letting your child sleep in your bed. In fact, co-sleeping has many supporters in the attachment parenting world. James Mckenna is a researcher who has done lots of studies on co-sleeping. His conclusion is that small children should be in bed with an adult, and cosleeping/breastfeeding REDUCES the rate of SIDS.
I have slept with all of my kids from birth until they were around age 3. I nursed while sleeping, and was well rested because of it. My 8 and 5 year old girls currently sleep together and have for the past 2 years. My 2 year old still sleeps with us. I am pregnant with my 4th baby and he will sleep with us as well. I don't have any intentions of forcing the 2 year old out until she is ready.