I never let my babies sleep in the bed with me as babies, always in the bassinet beside our bed,but as they were toddlers no problem,honestly we expect our little ones to sleep alone, but we don't do we lol.

I think you have to go with what you feel is right, and people will tell you all sorts,most of which i found to be untrue, as i said before i had no problem with the transition from parents bed to her own bed, i think it really depends on the child, they are all different, it was certainly frowned upon in my day as a young one, but times have changed and in my opinion for the better.