Our girls never pood or peed in the bedroom. We were told that dog don't go in their own sleeping place. Your little one doing it in the kitchen is probably loneliness or stress from being apart from the flock...
So I wouldn't worry about poo or pee, but more about how much of the beds yorkies are able to steal away once they first get in there
My girls sleep next to me, tight up against me or on me. Mare loves to sleep on my hip, I guess she can feel the warmth and my heart.