i never do.
I have never let my daughter sleep in my bed, I love that she's independent in her big girl bed. She lays in bed with me in the mornings, but never sleeps in my bed.
I will let our children sleep with us IF they have nightmares or something like that. But we're not cosleeping anymore (We did with all 3 of our children up until about a year).
My daughter used to have night terrors, when she did that she would lay with until she was calm and then wanted to go back into her bed in her room.