independence/independents

Every day I am teaching my kids to be independent. Working toward freedom of dependence on me. It has always seemed important to do this because my ultimate goal of parenthood to to one day be independent myself. That is, free of dependents. Is this attainable?
Eventually my kids will all be able to tie their shoes, do up their zippers, make their own food, wipe their own bums. It's easy to focus on these physical milestones. However, the emotional ones seem so much harder.
Last night, Kenneth got up at midnight and didn't want to go back to bed by himself. I agreed to lie with him until he fell asleep. At 2:30 am, I groggily left his bed and slid into my own. Less than 5 minutes later he followed me, tossing and turning the rest of the night until my alarm woke us at 7 am. Needless to say, we are both tired today. How do I get him to sleep independently? Over the last 5 years, we have followed all the advice of the parenting magazines and books to no avail. He wants to be right beside me!
Morgan used to crawl into bed with me too and now he's a teenager and goes to bed whenever he wants. I'm not sure I like this any better. At least he can go to bed by himself and doesn't require someone to lie with him (hint: it wouldn't be me!) He is actually quite happy to rely on me to make him food and drive him places. He's in no hurry to be independent.
With Lillian, we established independent sleep habits early. It is so nice to put her to bed and walk away. I wonder if she'll be the most independent of our children.

Ironically, it was my fierce independence that drove me into parenthood. I thought I was more grown-up than I was and tried to play the part. So what happens when the goal is reached? When I no longer need to brush their teeth, kiss their ouchies or make them supper. What will I do with my independence? I hope that I'll get a chance to find out before my parents or Frank needs me to look after them!