Duke sleeps with me. He started out sleeping on my legs... then he moved to my side... and now he thinks the whole king size bed is his. He still prefers to cuddle between my legs, but I'm not surprised to wake up in the morning and find him on my pillow by my head. He also readjusts the covers to suit him... it's quite a task for him as he pulls and jumps on them, but he gets them how he wants them I suppose, regardless of it's affecting me.
And yes, he HAS to be touching me. He has puppy steps going up to the bed, but he won't go down them so I've made him a little landing pad of pillows so he doesn't hit the floor so hard. He's a rough little boy. I love my little bed buddy though.