Sebastian who is 3 years old has slept with me since he was a puppy. I was against it at first but ultimately gave up for lack of sleep.
Sometimes he will get down and go under my bed and sleep there or he will go in the living room and sleep on the couch. I have bought him three beds that he absolutely won't sleep in for anything. He never had any accidents in my bed and when he has to go potty, he gets down and goes to his pee pad that I leave down for him.