Label on the left side instead above an input field

I would like to have the labels not above the input field, but on the left side.

<form method="post" action="" role="form" class="form-inline">
  <div class="form-group">
    <label for="rg-from">Ab: </label>
    <input type="text" id="rg-from" name="rg-from" value="" class="form-control">
  </div>
  <div class="form-group">
    <label for="rg-to">Bis: </label>
    <input type="text" id="rg-to" name="rg-to" value="" class="form-control">
  </div>
  <div class="form-group">
    <input type="button" value="Clear" class="btn btn-default btn-clear"> 
    <input type="submit" value="Los!" class="btn btn-primary">
  </div>
</form>

This code gives me:

I would like to have:

You can use form-inline class for each form-group :)

<form>                      
    <div class="form-group form-inline">                            
        <label for="exampleInputEmail1">Email address</label>
            <input type="email" class="form-control" id="exampleInputEmail1" placeholder="Email">
    </div>
</form>

Put the <label> outside the form-group:

<form class="form-inline">
  <label for="rg-from">Ab: </label>
  <div class="form-group">
    <input type="text" id="rg-from" name="rg-from" value="" class="form-control">
  </div>
  <!-- rest of form -->
</form>

The Bootstrap 3 documentation talks about this in the CSS documentation tab in the section labelled "Requires custom widths", which states:

Inputs, selects, and textareas are 100% wide by default in Bootstrap. To use the inline form, you'll have to set a width on the form controls used within.

If you use your browser and Firebug or Chrome tools to suppress or reduce the "width" style, you should see things line up they way you want. Clearly you can then create the appropriate CSS to fix the issue.

However, I find it odd that I need to do this at all. I couldn't help but feel this manipulation was both annoying and in the long term, error prone. Ultimately, I used a dummy class and some JS to globally shim all my inline inputs. It was small number of cases, so not much of a concern.

Nonetheless, I too would love to hear from someone who has the "right" solution, and could eliminate my shim/hack.

Hope this helps, and props to you for not blowing a gasket at all the people that ignored your request as a Bootstrap 3 concern.