Totally depends on the person.... I mean, I would currently rather have the bed to myself, but I used to be in love with someone who was very nice to sleep with, if I could get to sleep before he started snoring. If not, I'd lie there awake for hours, perhaps occasionally trying to gently move him into a non-snoring position without waking him. However, I didn't like to sleep with him every night. I liked having my own bed in my own house to retreat to, once in a while.
Nowadays, my bed is technically "all mine", but when my 9yo is at home (he stays with his father on an almost 50-50 schedule) he always wants to sleep in my bed with me. And he is always welcome (even when I'd sorta rather he didn't, because he doesn't keep still). But I know he's going to outgrow it soon anyway. My other son stopped wanting to sleep in my bed around the time he started puberty.
My daughter is away at college most of the time, but when she is at home she likes to sleep in my bed as well (except when her boyfriend is visiting, or she has a girlfriend staying the night or whatever). Like my son, she is also completely welcome in my bed anytime, even though it's less comfortable for me (especially when she and her brother are both at home!). But it's totally worth it.... I'm so happy that my children love me so much that they want to be close to me, even when none of us are awake.
Trying to remember if I ever slept with my mother (she was a single mom for most of my childhood).... I think we must have shared a bed sometimes, in hotels? I wouldn't have thought of it, except that earlier in this thread, other people mentioned that they had done it. But it may have happened. I know that when we were children & young teens, my three siblings & I always stayed in the same hotel room with our mother, and I don't remember any of the rooms having more than two beds.
You know, actually I think maybe it didn't happen, b/c I just can't dredge up any memory of ever having shared a bed with my mother even in a hotel. Maybe she took one bed and put all of us kids in the other ... I do remember that on some occasions, they brought a roll-away cot to the room, but I can't recall who it was for. Maybe I will ask her about this, if I ever think of it.