That is not to say it can't be satisfying and frequent. What it does mean is that you and your partner must be open-minded, flexible and considerate. It may mean foregoing sex when one of you is exhausted or stressed with caring for a sick child, for example. 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.