All those things sleep experts tell you to do in order to fall asleep faster and sleep more soundly? Pee should be at the top in the middle of the list, right before the part where you get ensconced under the covers.

Edit: if you get up for a crying baby, pee again before you go. It might go back to sleep, but mostly, once you pick it up you’ll not get another chance to pee, maybe for hours.