I had ds in with me for a while (had a c-section, so getting up was hard) but I slept really badly with him in the bed (I'm not a great sleeper anyway).I think he was in with us for maybe about 6 weeks (might have been less). Then he was in a crib in the same room for a little while (might only have been a few weeks). But I found I couldn't settle (I kept listening to his breathing!) so then he went into another room.
I've never been able to bf in bed (I'm on the small side, and I'd find milk all over the bed afterwards when I tried!). I had a comfortable chair, and a night light, and to be honest getting up was never a huge trauma, as ds always settled fine, so it was a quick get up and most of the time I don't think I really woke up properly.
dd never came into bed except for cuddles. She was in our room for longer as we didn't have anywhere else to put her! Then we moved out onto the sitting room floor for a while before she went in with her brother.
Both have slept fantastically since babyhood, but we have been pretty strict, and I recognise that we are lucky!
Essentially you just have to play it by ear. If you like having them in with you, and it's not causing you any problems then I wouldn't worry too much about it. If you don't then try out doing things differently. If it doesn't work out, you can always change things.
You might want to consider that there is some SIDS evidence that suggests co-sleeping may be a risk factor. This is probably only a factor in a very small amount of cases (I guess especially the very wriggly babies!), but I thought I should mention it as it's been in the news recently.