Yes, you can and should be compensated.
One option is to just take a 3rd unit for yourself, then sub-lease it to someone and keep 100% of the rent. That way each owner gets 1 unit for personal use. If the others decide to live in the unit rent free, then that's their choice, but you have the right to rent out your unit and keep the profits.
Another option is to make each of them pay 1/3 of the fair rental value of their units. Lets just say for example the unit has a fair market rental value of $999. Each of the 3 owners should be getting $333 from that unit. They keep their 1/3 and since they both live there they would just offset the $333 they should be paying to each other, and they each need to pay you $333 per month. They're still getting a great deal but you're not getting screwed out of the money you would get if the unit was available to rent to someone else.
Another reasonable option is to put the ownership of the property into a company such as an LLC or S corporation. Then the company is owned by the 3 of you in the same portion that you currently own the property. Then they need to pay full market value for rent, but they'll get back their portion by collecting the profits from the company. This probably isn't your best option because it complicates the taxes, but it would work.
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