Co-Sleeping

First, I’m not interested in any comments about co-sleeping being dangerous. I’m choosing to do what I believe is best for me and my child and I’m taking all the necessary precautions while doing so.

My question is for those who have transitioned their babies from their bed to a crib. I currently have a 3 month old and I am very back and forth about trying to transition him into his crib. My main reason I’m considering it is because I feel it will be easier on him now while he’s still so little verses him feeling forced out when he gets older. So I guess really my question is, those who have co-slept, did your child decide on their own when they were ready to sleep in a crib or in their own bed or did you have to break the habit. What age was the child for either outcome?