My kids have been sick recently & so the eldest (young primary aged) has slept in our bed on the nights that it's really bad. The youngest (20 months+) also sleeps in our room in her toddler bed to the side of ours (her room is currently being renovated).
DH & I often have to work after the kids are in bed & so (to sound rather heartless) the constant 'interruptions' from the kids can be a bit irritating.
However we've found that when the youngest (asleep in bed 1st) realises that the eldest is in the same room, she likes to climb up into our bed to sleep snuggled up to him. When this happens we get zero 'interruptions'.
I will admit though that I do kinda feel guilty for using him like this.. but then it's just so cute & adorable. I know they can't do this forever, so we're enjoying it while we can