my toy poodle has a dog bed that lies between my hubby and I, kinda on our headboard (we have one that has cubbies in it) and all we say is go to your bed, thats where she goes and stays, if she ventures out of it,(doesnt happen very often) we repeat it again. She is very little and would get killed if my husband was to roll on top of her. She was put in the kennel at night but my husband insisted that she slept with us so thats what we did and we just repeated our selves over and over and praised her when she did what she was told, she caught on very quickly, now we only have to say it once and off to her bed she goes. Her bed goes everywhere with us.
My other dogs go in kennels at night and they were trained the same way, all we say is "kennel" and off they go. Dogs can pretty much learn anything, you have to be patient, consistant and use lots of praise!!