R.I.
I had the same problem with my soon to be 5 year old doing that and after some soul searching and also the awesome advice from these wonderful ladies I have come the realization that one day they won't want to come climb in you bed and you will miss that bonding time with them. So I have decided to continue letting my son climb in bed with us because I know eventually he won't want to and that will be the day that I will be very sad.