Hi Michelle!
Don't worry, you're not on your own!
My DD1 was dry from just over 2 in the day. I literally took off her nappy, put knickers on and told her to tell me when she wanted a wee and that was us done. I could count on one hand the number of accidents she had.
HOWEVER, night times - whole different ball game! I put it off til she was 3 and then DD2 arrived so only gave it a half hearted attempt for a night or two as it was enough being woken by DD2 in the night, so didn't really want DD1 calling out for a wee! And before I knew it she was 4. And her pull ups were still wet in the morning.
The upshot is that much the same happened - told her she wasn't wearing a pull up anymore and that she needed to call me when she needed a wee. She had one wet bed and that was it. She now just gets up and goes when she needs to which is great as our bedroom is downstairs so it saves me a run up the stairs in the middle of the night. Having said that, I said to her recently, when I was putting on DD2's nappy after their bath, 'isn't it great that we don't have to worry about this with you anymore'. And she said 'I miss wearing a pull up as I didn't have to bother getting out of bed when I needed a wee'! I think if I'd left her she'd have been 12 and still wearing one!
Its more common than you think as well. I work for a GP surgery and spoke to a couple of doctors, and even amongst friends I found that once I'd broached the subject other Mums admitted the same!
My only other comment is that you should buy a mattress protector for her bed - peace of mind for you that even if she does have an accident, at least you've only got soggy bedclothes to deal with, not a soggy mattress.
Hope that helps.
x