We, as parents, often forget that going to bed isn't such a pleasant experience for a child. We are social creatures, and we are actually doing something which doesn't exist in nature- asking one member of the group to leave. Not only we ask her or him to leave, we expect them to go to a dark place, which sometimes could be quite frightening at night, while everyone else stays up.
What you should do is to make going to bed a fun experience- Start by giving her treat, or rewarding her in any other way, every time she goes to bad without making any trouble. You can buy her new Pajama, which she get to choose, and tell her it's a Pajama only for kids who goes to sleep in their bed. Make some fun out of it, tell her jokes, or a story that she loves. That way she would perceive going to sleep as a good experience, and within a week I think that you'll have a big surprise.
Regarding the issue that she comes to your bed- sleeping in your room is ok, but not in your bed. You must teach her that she can't sleep in your bed, like you can't sleep in her bed. She can either choose the floor, or... her room.
Good luck, I would love to read updates on how is it going !