Mine sleep downstairs, bella (nearly 5 yrs) used to occasionally sleep on the bed but we decided we couldn't have both on our bed so in the kitchen they went and all has been well.
On the odd husband when is at work or when i'm sleeping during the day they sleep both with me, this is so they can wake me for toilet breaks. Molly 10months likes to sleep with her head next to mine she gets as close as possible, Bellas quite happy with the bottom of the bed.