Mojo is still a puppy and sleeps in his crate. I don't think I will ever let him sleep with me. I'm too afraid he'd get rolled over on. I'm a heavy sleeper and afraid I might mash him.
Plus DH gets up earlier than I do to get ready for work, and I don't want Mojo prowling around the house unsupervised. Crating works best for him and he loves to sleep in his crate.