C.S.
I'm going to most likely go against the grain on this one, but I just don't think it's worth it to make kids and you miserable by insisting she sleep in her own bed. I totally get it if you aren't well rested or want your bed back with just two people in it-but I'm also in favor of cuddling your kid.
When our son transitioned to a 'big boy' bed I intentionally bought a full size so that I can cuddle with him. Usually it's only for about 30 minutes after story time, but on those instances when he wakes up from a nightmare I can sleep w him there and not have him come into our bed.
I guess what I'm trying to say is, if you are ok w it-sleep w her or let her back in your bed...OR let her sleep on the floor next to your bed. Maybe she just needs to be near you.
They are so little for so short and cuddling them is so awesome and really, like potty training -where they won't go to 1st grade in a diaper- they aren't going to want to sleep with you forever-they will grow out of it. In the meantime though you are offering her lots of comfort and security rather then crying fits and sadness.
And YES, you are giving in-but I also think there is a time and a place for compromise too.