They seemingly had a few rules for bonfires:
-Beating a boss makes a bonfire appear
-There must be a bonfire at the beginning of a new area.
Those are pretty good rules, even if the close proximity between bosses and new areas make for weird placements, especially when you take into account that 9 times out of 10 it is good design to have a bonfire or shortcut before a boss as well. Even Demons Souls had a short route from the archstone to the boss most of the time (the major exclusions being in the shrine of storms). I think you might be mis-remembering how hardcore the older games actually were because you've gotten better at them.
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