Silly GP! What's so bad about having a 5 year old in your bed anyway? If my babies still want to come into my bed when they're 5 I'd be fine with that. If they're still there when they're 15 I might be a bit worried lol.
IMO the right time for your baby to move out of your bed is when you want her to not when your GP wants her to. Your GP doesn't have to wake up in the night to settle your baby,.
If you do want a change there is something that is in one of Pinky McKay's books that has stuck with me. If you want to change your sleeping situation without stress and tears do it gently and with love.
Maybe you could start with putting DD in her cot at the beginning of the night and then bringing her into bed later. I've noticed that lots of parents co-sleep from 2am or 3am onwards. You could start trying to settle her in the night by stroking her not boobing her so that if she is in her cot you can stroke her to re-settle.