Nope. We didn't. Both of ours came home from the hospital and went straight into a crib in their own room/nursery. There they stayed. We never co-slept with either. I nursed them both and I went to the nursery and sat in a rocker to do so. They were sleeping through the night (6 hours or more) by 3 months or less. Both of them.
After that... well... why would I suddenly start letting them come get in bed with us? On the rare occasion that one would wake and come to the side of my bed, I would usually just walk them back to their own room, tuck them into bed and occasionally stand beside their bed for a few minutes. Once you start letting them get into your bed, they won't want to stop doing so. It becomes a difficult habit to break. So we just never started it to begin with.
Our kids are fantastic sleepers and always have been.
But if it works for you, who's to say that what you are doing isn't right for your family? It wouldn't have worked for mine, but I'm not you. Right?
But if you aren't comfortable with it (even though you might have been comfortable with it with your firstborn), then try something else. There is no rule that says that what you do with one must be done the same with subsequent children. Often times, we find that we made lots of mistakes with the first one, lol. (not saying what you were doing before was a mistake lol). The 2nd one and later children, give us an opportunity to use what we learned with the first one to improve our parenting.