We never minded putting them in the bed after they were asleep. It was rare they went to sleep in the bed. They would wake up there (or in our bed, or on the couch or on a floor bed) knowing only that they had been put there and covered up by someone who loved them.
One of my main principles has been that it's my job to protect the peace of each of my children in his or her own home insofar as I can. I'm not just here to protect them from outsiders, axe-murderers and boogie-men of whatever real or imagined sort, but from each other as well.
A big part of natural learning is absorbing ideas and letting them swirl around in the background. They clarify. They form connections. If the subject comes up again in a few months, you may be surprised how differently you're looking at what you were wondering about.