We crated trained too and I would not do it any other way. In both cases, the dogs loved their crates.
For our first dog, the kids were still small and they were being trained as much as the puppy. They learned that when the dog was in the crate it was like she was invisible and they had to leave her alone. The dog soon learned it was a refuge from the kids when she needed one, as well as being where she was sent when she misbehaved.
However, we made the mistake of calling it her "bed". After one particularly frustrating bedtime with the kids and me yelling "GO TO BED!" numerous times I walked by the crate to see our beautiful dog in it looking at me with her "what did I do wrong" eyes? Oh well, at least someone in the house was listening to me!