Is it my fault my dog always wants to sleep right next to me literally glued onto me?

I have tried picking her up and taking her out of the bedroom. She may stay away for a couple of minutes but then comes and hops on to my bed again. She also wants to be as close as possible.
I got her from a shelter about a year and a half ago. One night when she was still a pup, she looked scared and restless, so I let her lie in bed with me for about an hour. Since then I have been finding it hard to make her sleep elsewhere. Have I created this and is it irreversible?