I have 4 furkids that sleep on my bed with me right now and 3 who choose to sleep on their beds in my room. Destiny in fact insists on getting under the covers and snuggling close. And Lillie always sleeps on my pillow right above my head, she can be a pillow hog!!
I have doggy stairs leading to my bed and a pad on the floor. This way if they are on my bed and have to go potty they go down the stairs to go on the pad. The doggy stairs have been wonderful. I don't ever have to worry about accidents on my bed or them jumping off my bed and getting hurt to get to the pad.
It's funny because they all know the bedtime routine. I say "ready for bed" and they all get excited and run for my room and are up the stairs and on my bed in a flash. I can't figure out why any dog would be so excited just to go to sleep?!
When I have a puppy starting out, they are either crated by my bed or I let them sleep on my bed but they are required to wear a diaper until I know they are completely trained. I usually go the diaper right route because I give in to them to easily. I mean who doesn't like cuddling a puppy, lol?!