We have a King bed too and the dogs use to sleep with us but I also have a 6.7" 287 lb. Hubby and than my little chubby self. There is this empty space between us but nope. The dogs insisted on always being right up our butts, literally. They would lay right under us in the folds of our legs under our butts, right up against our back or on top of our feet Sometimes it wasn't uncommon to have one or several dogs in every body crevis available which made it Extremely uncomfortable for us !
Sorry but I make no excuses, I love my babies but my sleep is very important to me. They have me all to themselves 15 hrs a day. I need my 9 hrs of un interrupts sleep or mamma is not a happy camper.