This may shock a few of you & scare people off sleeping with their babies/toddlers (I hope it doesn't), but we personally love it & so does our daughter, who still sleeps with us at 10. Not only her, but many of the families we know, including those with boys older than my daughter sleep regularly with their kids.
Of course your daughter cries because she wants you to bring her into bed with you. She's all alone, you're together, she wants to be close and cuddled. I really don't see any harm in it.
For the record, my daughter is no shrinking violet. She's very confident, socially outgoing, self-assured and independent. Sleeping with mommy & daddy does not weaken children, as many parents fear. It give them security.
Don't worry, go with what feels right. Stick with having her start the night off in the crib if that feels better for you and she'll most likely remain accepting of both ways of sleeping.
Sweet dreams!