J.N.
Honestly, I let my babies sleep in my bed. It started when they were nursing, and while I had started transitioning them to their own bed around a year (and they had a crib before then, for when we wanted the bed to ourselves for any reason), I was still more than willing to let them sleep with us at least part of the night until they were 2. Once asleep, I could move them to their own bed/crib if I wanted (this was the first part of the transition anyway). So it wasn't much of an issue.
They grow out of it eventually. My youngest is 7, and always goes to his own bed on his own, with just a tucking in and kisses, and has been doing this for a couple of years at least. He comes in at night once in a while, but usually just needs a hug and I can send him back to his own bed. Kids do grow out of wanting to sleep with mom. :)