Max slept in his xpen next to my bed until he was a little over a year old. It was his choice; he felt safe there. Teddy was about 10 months old before Max allowed him to sleep in the bed.
For safety, I still keep my bedroom door closed to confine the boys to the room.
Since you have concerns about your furniture, I would wait a little longer. The doggies often mature a lot between his age and 1 year, or after.