I think there are a lot of parents out there who don't plan on co-sleeping, but somehow end up with a kid (or two) in bed anyway. In fact, I'd venture to say there are plenty of parents out there who don't even call what they do "co-sleeping," because their kids start out in their own beds but, somehow, migrate. Regardless of whether or not you call it by name, if your kid sleeps with you for part of the night, chances are high that they're are things you won't miss about co-sleeping once it's finally over.
I'm definitely in the "didn't plan to c0-sleep" camp. I guess you could call us reluctant co-sleepers, if you really wanted to put a label on the group. However, I guess if I really hated it I'd have kicked my kids out for good, and definitely by now. The fact is, there are moments when I really love it, because I know my kids will want nothing to do with me in 10 years. At least, that's what I tell myself as I lie sandwiched between my kids, in a stiflingly hot room, as they fidget and chat their way to sleep each night.
No, I don't think any co-sleeping parent would call it a perfect scenario. However, many of us do allow it to take place (or choose for it to take place) with the understanding that parents only get the opportunity to cuddle with their kids for a short period of time. There's nothing wrong with enjoying it while it lasts, assuming that safety precautions have been taken. Still, I guarantee there are things you'll be happy to say goodbye to once the time is up and you've sufficiently kicked your kids out of your bed, including the following: