I think when you use it for "a human that we possess like our friends, our children, our teacher", it is more correct without the pronoun and with the suffix, in general. As in "We would like to travel with our child" ->Çocuğumuzla seyahat etmek istiyoruz. We wouldn't say "Bizim çocukla seyahat etmek istiyoruz." (Although it would still be ok in an informal conversation, kind of slang) We would also not say "bizim çocuğumuzla" in this case, since there would be too much emphasis on the child is ours. Other than that, we use both the pronoun and the suffix together especially when we point to something and say "this is our blabla". For instance you wouldn't say "this is apartment", right? Correct sentence would be "this is our apartment", and it is same in turkish: "Bu bizim evimiz".