I know this is a touchy subject, with people on both sides of the isle. Sure, it was nice when your baby slept in your bed, you felt close and bonded, but now you're looking to get them in their own bed. Good for you! There are many reasons why it's important for children to sleep in their own bed, and if you can realize the importance, it will help you to handle the children at night when they try to get back in your bed.
First, I would tell you that your bed should be a place for you and your husband. This is sacred space, girl! You've got to explain to the children that mom and dad sleep in this bed and children sleep in their own bed. They are all old enough to understand! And, most importantly, they'll appreciate seeing the positive relationship you and your husband have by sharing a bed together - you want them to sleep with their spouse when they are older, right?? So, show them by example that mom and dad sleep together and that is one way you become a better mom and dad!
Second, set a date with the kids. For example, say "On Friday, you will start sleeping in your own bed! We're going to look at the calendar and get ready for it! This is really special for you because you are growing up and you get to do more things, like sleep in your own bed!!" Get them pumped up about it, let them pick out a set of sheets or a new blanket for their bed! Make it special and make it fun!
Now comes the hard part. They will probably get out of their bed. They will try to get into your bed. Choose a phrase and get it in your head that you will say this phrase when the kids try to sleep in your bed. Maybe something like, "This is mommy and daddy's bed, you will sleep in your bed now." or "Go to your bed, honey. I love you." I'm telling you, you can't say anything else. Just your little same phrase. They will kick and scream and throw and little fit because they know you are tired and eventually you will just say ok. But, you aren't going to do that any more! You are just going to say "Go to your bed." Then, if they go, great. If they don't, you will pick them up and carry them into their bed. You will be tired. You will keep doing it. It might be hard the first couple of nights, but after 3 nights, it will get easier, and by the end of the week, they'll be sleeping like champs!
Keep reminding yourself that you want your children to grow up into independent and strong adults. They will not be able to do this if they keep sleeping in your bed! You want the best for them, so show them how to do this so that someday they can be successful adults! You will be so proud of yourself when they are sleeping in your bed, that you will probably treat yourself to a spa day or pedicure! You can do it! Good luck!