Haha, this sounds a lot like Couver. He can jump up/down from the couch, but if he cannot get to me... He whiiiiines. If I go into the bathroom and close the door, oh I hear about it! lol. I'm not allowed out of his sight... I think it's a yorkie thing
I also don't get to sit on the couch without two dogs on my lap and legs. I guess I'm used to it... Have you tried a ramp?