I'd agree with the above and punkey.
I do think there was the thought of sex -- booking a hotel room is certainly key, but it seems like there was no sex. He probably planned it and then when it came down to it he realized it was not worth it for the sake of your marriage.
Like Punkey said all of this is positive.
Kids in bed with you - no not good. Unless say it is a one night thing - kid had a really scary dream, but not every night and it should be the exception and not the rule. Not good for you two as a couple and not good for the kids. Kids need to learn to sleep on their own. They also need to learn how to deal with the scary dream (if that is the case).
Just remember the kids grow up (and quicker than you realize - my youngest leaves for college this fall) - you need to be a couple as well as a parent. The kids will benefit from having a happy and content mommy and daddy and leaving them say with a babysitter or to sleep on their own will only help them to mature and grow into an older child, then a teen and gulp eventually on their own to be an independent young adult. You do need to slowly give your kids some space on their own - this is also open you both up to be more a couple - positives for the whole family.
How old are the kids?