TaffieT,
The same thoughts have haunted me, I couldn't forgive myself, if I were to injure either of mine in any way.
Both of mine are as yours, close as they can get, but, I think I have gotten both of them "trained" to react to a dangerous situation like that.
Simply put, I occasionally pretend to sleep, let them settle in, wait, and then roll over on one of them (suddenly BUT carefully and not to hurt them). But, I really give them a good "squeeze".
This works !
Now, heads come up and are very aware of their jeopardy, the instant I even move a little, and jump out of the way, when they see that they are going to be squeezed or "kicked" by leg motion.
I sorta feel bad about intentionally disturbing their sleep, but, better that than the alternative.
Give this (training) a try, and test them frequently.
Have a good Day !
S.W.