They went to bed at 930 and were awesome till 3 a.m. Then they were let outside, did their business and went back in the crates, not so happy when they were back in the crates, so they slept 3 more hours on our bed at our feet.
That's probably not a good idea. In fact, I can tell you from experience that letting them sleep on your bed is a BAD idea :( It's to be expected that they cry in the crates a little at first -- after all, they are babies

But by letting them sleep on your bed you're only making it harder for them to get accustomed to the crates, and you're showing them that there is another (much nicer) option -- being on your comfy bed, with you -- that they will not give up without a fight.
When we first brought baby Caney home we let her stay on our bed the first two nights, then started keeping her in her crate next to our bed at night. BAD idea. We probably cost ourselves 2 extra weeks of puppy crying most of the night, because she knew that she
could be on our bed. It took her much longer to adjust than it would have if we had crated her at night from the very beginning.
Unless you plan to make this a permanent arrangement (ie. you're going to continue to let them do this when they're full grown) the sooner you fix it the better.