bed time schedule

How did y’all get your kids on a schedule?! So we made the mistake of cosleeping with our daughter she’s 4 now and still in the bed with us. She thinks bedtime is play time and does not listen to anything I say. Everything is a joke to her and she ignores me when I tell her to lay down it’s time to go to sleep. Nothing works. I had to start telling her dad to go out of the room when I put her for bed because I noticed she tries to play more when he’s in here. I want her in bed by 7 and sleep by 7:30. But that never happens. We will get into bed at 7 and she’s jumping all around bouncing off the walls not listening for at least another hour or 2. It’s exhausting as I’m 30 weeks pregnant and DEFINITELY do not want this happening when baby is here. (Btw she has to be close to me to go to sleep she will not go to bed if I leave her in the room with the lights off.)