Bender sleeps in bed with us. We never had a problem with him peeing on the bed except in the beginning. We found out the problem was that the mattress was pretty nasty (it was from the person in the apartment before us), and I guess he was smelling all the old smells and thinking he need to refresh them. Once we got a new mattress we didn't have a problem. If there's a problem with the puppy getting on and off the bed for pottying and you still want him to be able to sleep with you, then there is always the option of doggy stairs/ramp up to the bed.
