I used the "get them in their own bed" remark BEFORE I had my own child. Little did I realize how much my views would change once I had my own little bundle of joy. Now I TOTALLY agree with your last statement...every family has to do what works for THEM, not what others say they should do. Besides, what do others care...it is you that has the child in your bed, not them so why should it be any of their concern really? If doing what works for you means a family bed, great. If it means their own room and own bed, great. If parents and kids are happy, that is what is important in the end. After all, when you decide to have children I think you are deciding that you are ready to put that child's needs above your own so that you can give your child the best possible life. Don't get me wrong, I'm not saying that mommy takes a total backburner and you find your own balance with everything, but it does become about what is best for your child. I really hope that is coming across the way I mean it. 
That being said, my DD is 6 1/2 months and currently sleeps in her bed most nights. Early on, she was either in the bassinet next to my side of the bed or in bed with us. Once we moved her out of the bassinet at about 2 months or so she went to her bed, but not exclusively. Some nights she would spend part of the night in her bed in her room and the rest in the bed with us. Other times she spent the whole night with us. I decided that I wasn't worried about hurrying up and getting her to stay in her own bed in her own room. It was more important that we all get the best rest that we could (because mommy can take care of baby if she isn't rested!!), and a lot of times that meant her sleeping next to me so she could easily nurse throughout the night and we both got back to sleep much quicker and easier. Now she is mostly in her bed, but sometimes starts the night off with us or spends the whole night with us. My little one is quite the squirmer when sleeping, so now she usually gets a better night's sleep in her own bed where she can move around easier and have her own space. Also, she has recently gotten to the point where she is able to go to sleep on her own easily, so if she wakes in the middle of the night she goes right back to sleep quickly...unless she needs to eat of course...then she lets us know to come get her! (We don't practice the "cry it out" method in our home....TOTALLY against it for us. So, up until the last 3 weeks, she required nursing and/or rocking to sleep to go to bed and to go back to sleep in the middle of the night.) However, if she is in the bed with me, she will nurse on and off all night long (mainly for comfort not to eat) and doesn't seem to rest as well overall. So, because of that, I let her spend most nights in her bed in her room.
I applaud you and your DH for the attachment style of parenting. Anyone who does it knows how hard and taxing on you it can be at times, but you also know the great rewards you get from doing it. So, anytime someone makes comments to me about the way we parent, I just shrug them off because we do what works for us and it makes for one really happy baby and two really happy parents!! I say keep up the great parenting you are doing!!!