Jackson usually doesn't. He will sleep in with me pretty late and won't get out of bed until I do. On some rare occasions, he will bark at the gate (have a baby gate blocking my room) and that means he really has to go potty so I get up and let him out. In the summer, we are generally sleeping until 10am.
But yeah, generally, I have to be the one to start moving, then I cuddle and pet him for a few minutes before we get out of bed.
What do your Yorkies do?