LOL boy you brought back memories of Bud
As small as he was he would jump up on the bed during the night.
My bed is 37" high! Not only worried about an injury I did not want
to sleep with a dog. Sorry but it's the truth. My kids slept with our
family pet's over the years not I. I kept a magazine under the cover's
and every time he jumped up I would slap the magazine on the bed,
tell him NO and put him back in his bed. He didn't care he kept jumping up so I gave up and let him sleep with me.
That was 5 1/2 yrs ago.
However, there was a time when I banned him from the bed due to
aggression. I put his bed next to mine and bought a soft 6' leash and
harness, made by a YT'er and put the leash around the foot of a dresser
in the bedroom. Just at a distance where he could not get up on the bed.
He never barked or cried just curled up in his bed. I felt so guilty but
it had to be done.
He had no choice but to sleep in his own bed. I did this for about 4mos
then gave him another chance at sleeping with me.
Good luck hope this works for you.