Hi, I am also an AP parent. I have 2 children (8 yr old boy, almost 4 year old girl). I nursed both (nighttime) till they were 3.
We had our son in our bed till he was 2. DH kicked him out. :) But I knew he still needed "nighttime parenting" so I nursed him to sleep in his bed and left. When he woke up at 2am and cried for me, I went back and stayed w/ him. He nursed every 2 hours after that, but it never bugged me.
I'm a big believer in meeting their nighttime needs for comfort and closeness. They WILL outgrow it. My son shocked me at age 6? when he didn't need me cuddling with him to sleep anymore (after books, he was OK with a kiss, hug and then he rolled over and fell asleep!)
I transitioned my daughter to the mattress on the floor next to her brothers elevated twin bed at age 1. I had a bed-rail for him up there. I would nurse her to sleep of course. The first year and a half or so, he insisted on being w/ us as I nursed her to sleep. Fine. I didn't want to fight it, have it be a problem... again, eventually he realized it wasn't that comfortable (obvious) and he chose to go up to his own bed (YIPPEE).
At age 2 her very infrequent nighttime nursing (she would sleep through the night till 5am) make me feel resentful and sleep deprived. I wanted to night wean, but a vacation sabotaged that. I nightweaned her at 3 years old.
I still lie with her and stay till she sleeps. She likes to cuddle my "nursie" still (fine) and sometimes she does and sometimes she just wants a back rub.
Sometimes at 5am, she will wake up, quietly walk to our room, quietly knock on the door and I come out and quietly walk her back to bed and cuddle with her. My husband has a very firm rule of no children in our bed (he can't sleep otherwise - fine) so they don't beg or whine for it. It's a non-issue. And when he goes away for the weekend and I say "let's sleep in my bed" she doesn't want to because she's not used to it! So if you want them to get used to sleeping in "their" room, you can start that now.
Like you, I found that if I just lay with them, they go RIGHT back to sleep. WHY? Because they feel safe and protected. Their little bodies can relax and doze off. If you are fighting w/ them, unlikely to happen. I say why fight it? Just roll with it.
Thanks to safe co-sleeping (there is safe and unsafe co-sleeping) we have not had the typical new-parent sleep deprivation.
Mary Sheedy Kurcinka has a great book called SLEEPLESS IN AMERICA
http://www.parentchildhelp.com/ and she talks about how people need different things at nighttime to help them sleep.
I have a friend with twins and she says she does lay with them (twin beds on the floor in their room) and waits till they conk out.
(BTW, I send out an e-mail of local events of interest to families in the Conejo Valley. If you want to receive it, send me a msg.)