My son is 3 and he doesn't seem to like to relax at night. Always go go go. Sometimes after his bath he likes to roll around in my bed with the soft comforter. He does settle down to read a few stories right before bed.
We start our bed time stuff around 7-7:30 b/c my 7yr old goes to get at 8pm. So the kids get bathed, pjs on, and brush their teeth. We then get my 7yr old to bed and then my toddler will usually watch tv with me or play for a little while and then bed for him. We don't have a set time but it is usually around 9:30 when he goes to bed. He likes to stay up late and get up early.
We've started having "pajama parties" as my 5 year old refers to it, lol. They both get in their pjs, they bring stuffed animals and we watch a show in my bedroom. We don't do this all the time though. Usually we just read books at night.