On commercial aircraft only one pilot should be in command at any one time, and in the scarebus there's an audible alarm if both sticks are used simultaneously.
On ANY airplane, only one pilot should be in command.
Other things that SHOULD happen:
-Birds should avoid planes
-Engines and equipment should work
-Storms should not appear without warning
-Pilots should constantly be in close communication with their crew
Just because something SHOULD happen doesn't mean there aren't extenuating circumstances. The thing with having more than one set of eyes in the cockpit is occasionally one set sees something the other doesn't, and in these circumstances, the one to see it may not be the one who SHOULD be in charge, but time may not allow communication of both the issue and the corrective action.
While you will say "There's a 'takeover button' for that!" it's not an end-all excuse. What if both see the situation, both push the takeover button, neither knows what the other is doing, the situation becomes more frantic as the one NOT in control doesn't realize the other is acting on the airplane. Beyond that, as a firearms guy, the one thing you hear a million times is "When your life is on the line, fine motor skills are the first thing that goes". How often do you think these pilots drill to press that little button in an emergency? And keep in mind, I speak from experience when I say emergency drills in a simulator are NOTHING like drills in the actual airplane.