Oh my!,You need to get rid of that guilt! Sleeping with your baby is the best. I know that it can be worrisome at first because of what the hospital may tell you. But I am confident your maternal instinct will protect your little one. My daughter slept with me and my husband since she was brought home. Either going to bed with us, or sleeping in her crib until she woke up for a feeding then slept the rest of the night next to me. When she was super tiny, she slept on my chest or in the crook of my arm. Sometimes I would wake up and she would be so sweaty! Or sometimes covered by a blanket (but my body was always bigger than hers so there was air flow), and I would wake up and move her to a better spot and pull the covers down.
I am expecting baby #2 in a few weeks and I completely plan on the same sleep arrangement (my daughter is now 4 and sleeps in her own room in a toddler bed, and loves her room and bed). Sleep is SO important, it is best you are comfortable and if that means having your baby by yours side, that is best. Don't feel guilty, feel like you are doing the best thing for your baby. She is safe, warm ,loved, right next to you. Relax and enjoy this incredibly special time!