Of couse you want her to be happy most parents do , it seems that you have taught your daughter to like being in your company , and she is not too independant so this is the area to work on,as you say she slept with you most of her childhood, so there now she cant do that and feels left out.,she is staying awake to keep you with her, so you need to set bounderies, tell her well beforehand when her bedtime is, read to her and when the time comes take her to her room tuck her in and leave the room if she comes out quietly tell her or take her back to her room, be consistant in this, she will learn very quickly, Focus on the positive side of her behavior, and praise her when she does something good. She is doing the same thing when she says she is scared, you can calm her fears but then leave her .its a bit tough at first but it does work.