By the time mine were 12, I was beginning to treat them a little more like adults. Yes, there were fixed bedtimes because they needed a certain number of hours sleep a night, but if they wanted a drink they could go and get it (just like I can if I wake up in the night) and if they wanted to ask about something they could (but would be reminded that they need to sleep).
Basically, I think you are on the cusp on a time where you will not be able to ask for "adult time" downstairs and you just have to find other ways of relaxing in the evening. My youngest is 16; by the time I was dropping for bed last night, he was still out partying.
That's only 4 years from where you are now.
Think about how you can make that transition as smooth as possible, gradually working up to more independence. Nothing wrong with a cuddle before bedtime, though; don't think of it as an imposition, but as something people who love each other enjoy doing, to show each other affection at the end of the day.
Is your dh a little afraid of losing control as they grow up? I've got some bad news for him: he will start losing control. But that is not (hopefully) because they become out of control, but because the control passes into their hands.
Are you a little afraid of losing control? Is that why you are still thinking of them as much younger than they are? Same answer. Show them how competent and independent they are.