It might not be an issue. If this is the way kimchi and miso have always slept, this is their normal day to day. It would be different if kimchi had been sleeping at your side for years, and then miso (a new puppy) took his spot and kimchi is mow on the floor. That would definitely be unfair.
It's your call. If kimchi isn't whining to join you, keep things the way they are. If kimchi wants up too, do what you can to help him settle down at night.
__________________ Littlest JakJak 
We miss you Kaji 
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