Well...Yogi and Bogus have slept with us since they were babies and when little Suki came they continued with her until last summer and we all decided we didn't sleep as well together. I started putting the baby gate up with them on the other side and they were miserably forced to sleep in their own beds
...BUT, Dad is out of town on Monday thru Wed, every week for the last year.... SO they get special privledges on those nights cause we have more room!! They know which nights they can and when he's home they quietly go to their beds...funny, because it didn't even have anything to do with him, but he caught all the blame
They still love him!! I have stairs on the side of our bed too for them if they need to get up and go potty.