My daughter really prefers sleeping on the same bed with me, or if I'm not around, she sleeps on my mother's bed. I think I won't have it any other way, I agree that it somehow makes them feel secure and sleep sounder at night knowing that mommy is right next to them.
I also love co-sleeping because I get to bond with my daughter, right after her bed-time story, she would then turn the tables and tell me one. We also sing lullabies together, to put us both to sleep. It's amazing how much fun you can actually have before sleeping time.
Like I said before, I won't have it any other way.