Sleeping on the Floor

My 2 year old daughter was pretty sick 3 weeks ago. She had a bad cough and would come into our room in the middle of the night, because her cough had woken her up. We would make her a bed on the floor, and she would feel safer and sleep later into the morning. So fast forward to last night. The cough is long gone, but every night around midnight, my daughter comes into our room with her blanket and babydoll. For a few nights we tried to take her back to bed. She would just get more and more frantic, while my husband I got more and more frustrated. Last night she came into our room at midnight and we decided to just let her sleep on our floor as long as she needs to.
But now I'm having visions of a 15-year old Maisy sleeping on our floor. We all sleep much better when she's on our floor. And by midnight my husband and I are going to sleep anyways, so she's not interfering with mommy/daddy time. So my first inclination is to go with the flow and make changes when she's ready. But should I be more firm and make her sleep in her own bed? I don't know if this is a battle that should be fought...any suggestions from more experienced parents would be appreciated. Mostly I'm just making it up as I go. Maisy should be very afraid!!!!