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I just went through this very same thing. I got a child at 4 months old and she was just returned about a month ago after being with me two years.
I have an open relationship with the family, but unfortunately the parents live more than an hour from me so the child didn't see the parents and me at the same time very often. For this reason (and because I had a baby right before she left so I don't have as much time) I have felt it better to pretty much disappear and give them time. In the future I'm sure I'll see her again but for now it would be confusing for her.
It sounds like in your situation your kiddo is used to seeing both you and the parents at the same time so keeping contact could be very beneficial so the child doesn't feel like a really important person in their life suddenly disappeared.
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With the same amazing man for 15yrs 
Mom to a wild and crazy bunch: 
 Adopted - A1 - 9 yrs (adopted Oct 2005)
Adopted - A2 - 5yrs (adopted Dec 2006)
 Biological - T - 1 yr (born 7-29-08)
:Exchange student - K - 17yrs
Former foster child (lives with me during the week) - M - 13yrs (foster child from age 6yrs to 11yrs)
Total of 104 foster children and 4 foreign exchange students at last count. 
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