all dogs do that...
we don't let our dog come upstairs period.
yes, the dog whined for a couple weeks but once he knew that it's not possible, my dog quit whining.
if you make exceptions, the dog will keep whining.
the dog will think "well, i whined last time and my owner brought me to the bed so i'll whine again to make that happen".
the key is to be consistent and teach the dog that it won't happen ever.