Hey!!!!!!!!! Oooh Im so excited that you are asking. I think co-sleeping is one of the best things that can be done for your babes!! So first- it is considered co-sleeping, except I guess that one of the main benefits of co-sleeping is that the child knows that is where they are going to sleep from the beginning of the night. Mainly, this is important because one of the main benefits of it is the child has complete confidence that their needs will be met by you not just from morning to bedtime, but 24 hours a day, and they know you are right there if you need them. Studies have proven that this leads to them being more independent and confident later in life!! (Because they feel that they can venture out a bit more if they know you are there whenever they need you).
Second- intimacy. HUGE!! If Dad resents this arrangement, or if you do, it will not be beneficial for anyone. This was a huge issue with my 1st son, but we figured it out with him, and now with our 2nd we are fine. I don't know if you have room mates or other kids, but we discovered that the best thing to do was to lay him down, then after he was asleep we could have some time downstairs on the couch. Or, if he took a late nap we could sometimes move him to the couch to have our bed for a little while! Sometimes we would have grandparents watch them for a while so we could have some time as well. There are a lot of ways to get around it if you really try, you've just gotta get creative. Also, every once in awhile we would put him in the cradle after he fell asleep just for an hour or so, and then move him back!!
Last, how to make the transition... here is where I veer off of all the common opinions, I think. I figured he would move out when he was ready. When he was three, he asked for a Spiderman Bedroom. I made him one, and that very night he slept in there and has ever since. If you are wanting to make it a little less of a duration, there are a lot of good articles on how to do that if you google co-sleeping. I'm sure other moms will also have some advice for you on that. (Just an FYI- my cousin co-slept with my aunt and uncle, and they decided to let her do it until she was ready- she asked for her own room when she was almost FIVE!!! She slept there that night and every night since! Just letting you know, though- if you decide to give them until they are ready... it might be a long arrangement!!!)
Feel free to message me if you have any other questions about it or anything, as you can probably tell, I am a HUGE advocate of it!!