@Mohan Yes Mohan. It is confusing - your decision or theirs. It's not really about which is right or wrong. Rather, I would say look what works for your family. Go with your gut feeling. Kids will ultimately outgrow their need to co-sleep with their parents. When? Difficult to say. Perhaps in advanced teens their need for privacy will break the habit. Work towards it rather than enforce it, bear up with the inconveniences till then, and hope for the best! For some, sleep-overs help them wean away from the habit.
@Mohan Sathia, thanks for sharing your experience. Very practical and useful. To add one more suggestion - sometimes it helps them to know that they can come over to your room whenever they feel afraid, worried and need comforting.