No strict bedtime routine

So my son is 14 months and we don't have a set bed time routine... well I guess we kinda do. I see people say they have a strict routine and put their kid to bed at seven. And that sounds so nice. But I also kinda love our non routine. We have dinner anywhere between 7 and 830, then pjs, then we all hang in the living room, have a bottle (trying switch to cup), watch tv, then between 930-1030 we all go to bed. Right now we co sleep and LO usually wakes up around 9a. I feel bad that he's still in our bed, but I also love it. idk, any other moms with non-routines?