We had no choice, from day 1 we had Piper she would scream, cry and wouldn't calm down whether she was in her pen or her crate at night. So it was HER decision to sleep in our bed
Whenever she got up in the middle of the night and walked around nervously or jumped off the bed, I took her outside. Now she sleeps through the night, cause she's passed the puppy stage. All three dogs sleep with us, it's worth the backache. We keep a bell on her collar so we can hear where she is, and staying out of trouble!! We have fun slumber parties!!