Our kids (now 9 & 12) went to bed by 8 p.m. until DD was 11. Now they both go to bed at 9 p.m. May sound a little unfair that son got to move up with DD, but she has always needed more sleep, he seems to do find with less. And if he IS tired, he will just announce "I'm going to bed" and head upstairs or fall asleep on the couch. He's always been more laid back than big sis.
I think we are a rare breed, though. Most of the parents I know would agree with your friend and think these bedtimes are early. I have a friend whose 3yo is routinely up until 10 p.m. I also know a lot of folks who feel 4 is old enough to give up naps, but my kids took naps until they went to kindergarten at 5.5 and 6.