When you installed XP you probably have the same hard drive setup (c: for 2000 and e: for XP). In order to boot the e: drive as c: you would need to copy the boot files over to the e: drive (boot.ini, ntldr, ntdetect.com, ....)
This is not guaranteed to work as XP assumes the OS is installed on e: and not c: so it will probably give you errors.
If I was setting up a dual boot like this I would install XP first with the e: drive set up as c:. Then I would swap the drives around to install the other OS.
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