Can sleeping with your baby make them well rounded?

All my life I've heard it's very dangerous and not a smart idea to sleep with your babies. Because 1 SIDS and you could roll over on the baby and suffocate them, and also when they get older it's harder to get them to sleep in their own room they will always wanna sleep with mommy and daddy. But my friend keeps telling me it makes them well rounded and better communicators in relationships... is that true?