I wonder if the transition for nighttimes at least might be a bit easier once Pie can talk? So in a couple of months or so, and you can make a MASSIVE deal about how awesome and fun having your own bed is
My girls didn't co-sleep, like yours they liked their own space and only wanted to sleep on me if I was moving around. But we had great success transitioning Natty to a bed (she LOVED her cot and frankly, so did I LOL!) by making such a whopping big deal about how grown up etc she was and how much fun she was going to have in a big bed. She still had the same security toys (still does now!) but we got some 'new' bedclothes (hand-me-downs but new to her) and painted it pink (at her request) so it was like an exciting new adventure. I understand it's different trying to transition from sleeping with you as opposed to just on one thing or another, but I wonder if it still works the same? On the understanding that if they wake at night they would still be able to join you, I guess.
Good luck either way