Tilly and Sami both sleep with us they have their own pillows right above our heads, although they do move themselves all over. when I first brought Tilly home I bought her a pillow and put her above my head, I just pat the pillow & say up! and up she goes. That has been for ten years now. When I brought Sami home I didn't treat him any different even though he was not potty trained when I got up to go to the bathroom Sami was taken to the backyard, then we both went to sleep to this day he has never had an accident on our bed. I think I read it somewhere that yorkies are similar to cats when it comes to sleeping they wont poo & pee where they sleep? But I have heard od dogs having accidents in bed.
Sami has this little child chair at the end of our bed so he can get up & down