Co sleeping questions....

Ok so I'm just so confused about co sleeping. I've never considered it. I'm still not really really considering it. However, I'm just curious.... how is it safe to cosleep with the baby just in your bed with you and your SO.

I've read about mom's just kind of having their boob out for the baby to access when needed during the night..... I guess the blunt way of asking what I'm trying to ask is

HOW DOES THE BABY NOT GET SMOTHERED BY BLANKETS/PILLOWS/PEOPLE......

🤔🤔🤔🤔🤔