The key is communication and thoughtfulness. The right way is whatever works for your family. Some families are happy all in one big bed. Some families arrange multiple beds in one room or even sleeping bags on the floor. Some parents start their child off in a separate bed or crib, then move them into the family bed when they retire.
Many families encourage siblings to sleep together.
This is a sensitive way to wean a young child from the parents' bed. The key is that everyone is comfortable with the situation and gets the rest they need. You must get a lot done. She was learning what her baby needed and decided to do whatever she had to to comfort and calm Elizabeth. She adamantly stated that no one else spent 24 hours a day with her child, so how dare they make judgments on how she was parenting her baby.