Is it safe to sleep with our baby in our bed?

No. It is not very safe to sleep with a baby in the same bed, because there is a small chance that the baby will get tangled up in something and suffocate, or the baby might be accidentally smothered by the adult (s) in the bed.
No. Absolutely not. Nice feeling to be next to your baby, but not the safest thing to do at all. Too many horror stories have happened that I've seen (falling off bed, skull fractures, suffocation, baby head stuck b/t mattress and head board) which was never intentional. Plus baby needs to know where their sleep haven is.