I waited until Kiwi was housetrained before letting her sleep with us. And we always "invite" her up on the bed and tell her where she can sleep on the bed. I think this helps avoid dominance issues. I think most dogs would prefer to be in the same room as you, even if they are in their own crate. If they can smell you and know you are next to them I think that is better than putting them in a different room.
My hubby was worried about rolling on Kiwi, but it has never happened. Probably because it is like when you sleep with your spouse, you get used to having someone next to you and your brain adjusts to it and prevents you from rolling over on top of them.
