You can build a double bed and two singles in the bedroom wing, for you, spouse, and kids. The housecarl and steward won't sleep if you build no more beds, but they will stay. If you don't build the other beds, the places where they should be built stays empty, you can't put anything else there. The upstairs in most Skyrim/Hearthfire homes is supposed to be only for family anyway, why not save first, then build them and see what they look like? With the nice furnishings you can put with them, it's really quite nice.