I often wonder how people who have toddlers cosleeping with them actually manage to sleep. The few times when my children were very little and I'd let them sleep in bed with me, I didn't manage to get much in the way of quality sleep. First it's the wiggling to get comfortable, then it's little hands in your face, feet or knees in your back, etc.
The last few times I brought the little guy into bed in the middle of the night, he was nice and settled down, then he heard a "mrow" and the jingle of a collar and it was "Kitty? Kitty! Where kitty?" I grumbled, got out of bed, bringing the child with me back into his own room, replacing the binky and tucking him in.