I've just put Jasper in his cot for the first time for a day sleep. He will stay with us at night. I just let him sleep next to me (got a my little bed but am not using it). It's better they learn to cope with the noise and if your baby is used to it early, then she will continue to be able to sleep with noise. My other two arent' fantastic as I was too quiet with them. Number three is already sleeping through HUGE tantrums from DD2, so he's used to noise already. Im leaving doors open, tv up etc!
If I do want him to sleep in my bed in the day sometimes I just lie next to him. I do wake at night and he's on me, which means I've burped him and fallen asleep! He's always safe, but I think you just play it by ear, see what's comfortable for you both. xo