We had a Family Bed when our children were small. They did, however sleep in their own beds for most naps and they would be moved to their own beds when My Man and I wanted to be alone together.
With Cue breastfeeding, it's pretty hard not to have a baby sleep in your bed, unless you want to be running around the house all night. Even if you aren't breastfeeding, getting up every hour or two is too much. Having the baby right there is not only easier, but it's been proven that babies who sleep with parents have a lower SIDS rate, grow better, nurse more easily and bond well.
Our kids would start the night in their own beds (most of the time) and then come into our bed for the first waking. As they grew older and stopped waking at night, they naturally slept all night in their own beds. I would make the decision to put them back in their beds after a feeding depending on how tired I was or if I fell asleep nursing. It is a joy to wake with a tiny newborn in your bed, or have an adorable toddler jumping around in bed in the morning.
It worked for us, and our kids never had a problem sleeping in their own beds when it was time to.