Well, first of all, babies should NEVER sleep with their parents. NO. It's dangerous.
Next, whether you have a child or not, is between you and your lady. It's something the two of you really have to be on the same page about.
Yes babies suck out our souls... our body is feeding them for nine months out of our lives, and after the baby comes along, we are tired for a good bit of time. Childbirth isn't a walk in the park and the entire experience is a bit draining. It takes our bodies a while to heal.
After the baby comes, no one gets much sleep and we commence to have no social life, more expenses and bills. Doctors aren't free, neither are diapers, cribs, baby food, clothing and all the rest.
It can be a wonderful time, and it's also an emotionally trying time
You're not selfish, but i think you do need to take a lot of things into consideration before you start a family. Families are great. Being prepared to start one? that's better.