Family Bed?

At first I enjoyed sleeping with my babies, they were small, sweet and didn't move around much. 4 years , and a King Size bed later... I am so ready for them to stay out of bed, but too tired to do anything about it. I constantly get feet, knees, elbows in my ribs, back or face. I wake up sore because the pretzel sleeping position is not one my body feels is the most comfortable. My 2 boys do go to sleep in their own bed but sometime in the night ( I sleep through this) they climb into bed with us. I guess I shouldn't complain too much, pretty soon they won't want to even hug me sweetly.