I don't have to kick my DH out!!
When we have co-slept I have put bubs between us, between our pillows or I sleep on my side facing her with my bottom arm stretched out, her head either on or just under my arm. Her feet then rest on my legs (which are curled up so I'm in a "C" shape) and that way she's secure and I can't roll on her!
Its not such an issue now she's bigger though.
HTH!