My two girls sleep with us. Luma always has. When we got Rosie she was much smaller so I made her sleep in her ex pen for fear of rolling onto her or her falling off the bed. She is allowed to sleep with us now though, she uses stairs to go up and down.
Next to our bed is a crate covered by a blanket, with a Cloud 9 inside. It creates a nice little cave. Sometimes when we call them to bed they go into the crate together for sister snuggles
but every morning I wake up with Luma at my feet and Rosie curled into my neck.