“Co-sleeping” typically means sleeping in the same bed together. However, in some instances, co-sleeping can refer to either sharing a bed or sharing a bedroom. So it can be important to clarify which of these is meant when speaking with others on the topic to avoid confusion.
Room sharing refers to individuals sleeping in the same bedroom, whether in separate beds or not. Bed-sharing means sleeping in the same bed, or sleep space, together. The AAP recommends room sharing with infants, but not bed-sharing.