I think I was like most and tried to listen to those who said they "must" be in a crate at night....that didn't last long at all! Mojo has slept with us pretty much from the get go and we have never had a problem. Even when he isn't feeling well, he gets down to use his pee pad...never a "surprise" on the bed.
He use to sleep around my neck/head, but now he has started sleeping around my legs (likes the back of my knees, if they are bent). He sleeps all night, unless our big dog is barking outside or unless I shift and he then gets frustrated sometimes! I did use a belly band several times when we wold go out in the motorhome, but he has since learned to hold it all night. He does have to sleep with his blankie that we got him after we brought him home. Don't know why he loves it so much...just a cheap fleece baby blanket from Wal-Mart! We don't mind though, it is a comfort to him and it is cute.
I honestly don't think I could sleep without him.....I can't even stand it when he is not with us, if we go somewhere! I really couldn't imagine my bed without him there!
Even when I was very sick awhile back (105 temp) he laid by me the whole time...wouldn't move....oh, the love these litte ones give!!!
Course, he has his bed too that he will sleep in during the day....he has many options in our house......the vet calls him "Their Little Prince" because of how good he is treated!