Both sleep with us. Roscoe cant jump on the bed but Sparkle could because I swear she is part cat! ANYWAY after weeks of whining I bought steps. SO when we go to bed hubby lays down and he always lays on his right side facing away from me. Before he is settled in and has the covers on Roscoe is planted right at his back just past his pillow. During the night he mostly makes his way under the covers close to hubbys lower back. Sparkle gets in the crook of his knee unless I lay on my back and then she is planted in my crotch as fast as your head can spin.
She too will eventually get under the covers and usually they both end up with hubby. If we are just laying in bed watching tv or reading the paper Roscoe will go right for hubbys crotch and if its not open he will paw at my husbands legs until he forms the necessary triangle to accommodate him!