When I had 2 Yorkies, they both slept in bed with my husband and me. Usually one was on each side of me so he actually had most of half the bed to himself. The smaller/older one stopped sleeping with us when he got older and we knew getting on and off was difficult. Then, he slept in his bed at my side of the bed. Toward the end of his life...15-16½ years old(since he couldn't get up and down stairs anymore), he slept downstairs and I really missed his not being nearby each night. 
With my new guy (rescued/adopted at 6 years old), I decided he could sleep with us. He's done that since his first night here. He snuggles in and doesn't get up in the morning until I tell him I'm ready to take him downstairs (sometimes as late as 8:30 AM!).  
I can't imagine not having our Yorkie(s) sleeping nearby!! 
