Both my husband and I love having the dogs sleep with us BUT I have some sleep issues including restless leg. I get so little sleep that we finally decided to crate the dogs at night. Also 7 dogs makes for a very crowded bed.
It was harder for me to give up sleeping with them than it was for them to sleep somewhere else.
So every evening they are ALL OVER both of us until bedtime and when we stand up to go to bed they go straight to the crates without any trouble.