Hi B.,
We started having this problem with our 2-year-old when we moved from his crib to his big-boy bed. I spent many, many nights leading him back to his bed, often multiple times a night. I spoke with his pediatrician about it. She has two children of her own, 8 and 10. She said if it didn't bother my husband and me, then it wouldn't cause any problems with our son.
We're lucky that our son goes to sleep well every night in his own bed. This gives my husband and me private time in our room. Most nights our son does come in sometime in the middle of the night. I've gotten to the point that I enjoy cuddling with him. I love waking up in the morning with him warm beside me, and about once a week he never comes in at all and I'm disappointed!
The pediatrician also said that as they get older they don't want to cuddle and snuggle with you, and that you'll miss it.
You have to decide what's best for your child and your family. I'm only offering what is working for my family. Good luck!
--J.