Co - Sleeping ..

Co-Sleeping doesn't come naturally to me. When my husband and I first met he joined the army and then later he became a truck river. Consequently I have become VERY used to having a king size bed all to myself. Now though my husband is at home every evening and we have 2 small children. Suddenly I find myself having to share my space...and I'm not sure I like it. As babies both my children slept in moses baskets before being moved to cots. And now they both have there own beds.But increasingly they seem to want to sleep with us. In principal I am OK with this. I much prefer to have them sleep in with us and get a good nights rest than be up and down all night convincing them to sleep in there own rooms. But in practice... I'm not keen. First of all there simply is not room for 2 nearly 30 year olds, 1 almost 4 year old and just turned 2 year old. There just isn't!! My husband normally ends up sleeping in my daughter butterfly bedroom leaving me to fight for the duvet. My daughter then likes to sleep as close as humanly possible to me. Seriously if that child could climb back into my womb she would. My son however would prefer not to share ...he just wants the big bed. He spends all night rocking and rolling, kicking me in the head and trying push his sister out.To make matters worse if anyone ELSE dares move he is immediately is WIDE AWAKE. He wants to chat ,sing and laugh...and he really doesn't care that is 2am.
All of this makes for one tired and grumpy mama. So how do I make this work for us? This is not a rhetorical question , I really need to know?! Is this just another green parenting issue I will fail at???