I slept in my parents bed or on their floor pretty much every night up until I was about 12. I was very scared that someone would come and murder me in my sleep. I don't have that fear anymore (thank god cause it was really debilitating and horrifying to deal with as a kid) and I turned out fine. I live on my own and sleep by myself every night. I think everyone is different and what may work for one family may not work for another.