Ben and our Jack Russel, Candy sleep with us. They sleep on top of our blankets and Candy has one of her own. Ben usually is cuddled next to hubby. I was the one who always said the dogs could not sleep with us..... but who can say no to a Yorkie pup? And Candy just wore me down, she would wait til we went to sleep and then hop up there and make herself comfortable. I guess she finally trained me to just let her up there to start with.
DH made a ramp for Ben to run up and down from the bed. He knew immediately what it was for and seemed happy as can be! He moves the ramp around the house for Ben -- to the bay window seat, to the couch, and back to the bed in the evening. What a spoiler he is!