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We purposefully co-bed part of the night.

We have our bed off the frame & pushed up against the wall so P can't fall off. She sleeps pretty far from the pillow since she's low enough to nurse (my "bottom" arm is usually between her head & the pillow) and if she's between me & the wall I pull the cover just to "on top of me" but not between her & I and not over her.

For the first 6 months P ONLY slept between me & the wall b/c DH still wasn't used to her there... I usually ended up pushed in the middle pretty close to me so he learned not to roll over me. lol Now she'll occasionally sleep between us (she's much more demanding of her space) but she still ends up close to me since she nurses quite frequently. If she's in the middle I only cover my bottom half which basically leaves her uncovered. We adjust our thermostat to work.

I never take meds or drink & if I'm over tired..... well that actually hasn't happened since we put her in our bed. Even if I don't have "adequate" sleep I'm not ever a walking zombie like I was in the first days when we tried to not co-bed.

So yea.. we pretty much follow the rules. If DH wasn't always cold at night we'd forgo the blanket all together... not gonna happen with him though. lol

We purposefully co-bed, although we try to have him sleep in his co-sleeper. I usually have him between myself and the co-sleeper (which is our "guardrail"). I lay like @runsyellowlites with his face right below my arm.
Sometimes we have the covers on him, around his waist. Mostly I pull them at an angle so they're over my shoulder, but tucked between our bodies. I still use a pillow, but keep it pulled away from his face.
He has slept in-between DH and I before. We pull the covers down and both face toward him. DH used to lay with him on his side of the bed, but I wasn't comfortable with their being no guardrail. Now we'll switch sides if I need a break & DH will lay with him the way I do. I feel comfortable with DH laying near him and both of us always wake the other person if we're bringing DS in bed.

We're hoping to switch to the crib soon. I do like co-bedding, but our bed is too small to do it long-term (DS is 5 months).

Like @mewtill we use the co-sleeper as a guard rail. I keep my arm between LO's head an my pillow. I sleep kind of in a pocket of a blanket...a fold a blanket under my body and tuck it around back as well so that there is no loose covering....I guess I swaddle myself. She sleeps with her head at boob level and I curve around her. I very rarely have her between me and DH. The one time I did he woke up in the night grabbing at the pillows thinking they were the baby and that she had lost her head....he's a very sound sleeper and I think was not quite awake.

We follow all of the guidelines as far as animals, alcohol, etc.

I really like bed-sharing and here in Canada our doctor supports it. I know it the states it's a big no-no, but it has helped my sleep so much. Her one night-time feed is more of a dream feed and neither she nor I are wide awake for it. We haven't had much sleep deprivation and I think co-bedding is why.