I highly recommend the book, "The No-Cry Sleep Solution for Toddlers and Preschoolers" by Elizabeth Pantley, to address issues like this. It has many great tips to help in various situations.
In my home, my older children often join us in the bed at some point during the night, typically when they've had to wake up to go to the bathroom. I almost never know when they come in, just wake up at some point to an extra warm, snuggly body! They know they are welcome to join us AFTER they've gone to sleep in their own bed. We have set some rules, such as they make come to our bed after the clock in their room starts with a "3" or bigger number. This avoids them coming immediately to our bed, for instance, and similar strategies can work in whatever your situation is. Some families will make a rule that they can come to the big bed once the sun is up, etc.
I would not exclude her from your bed, but evaluate your needs as well as her own. The book I mentioned is great for helping you through all the phases of identifying the problems and needs and finding the best solutions.