He's just loney that's all. If he is peeing in your bed perhaps you could crate him next to your bed until he is trained. Dogs are social creatures and require company expecially Yorkies. They do not enjoy being left out. If he is not peeing in your bed you are doing nothing wrong. Buddy sleeps with me and so do most of the others here sleep with their mommies and daddy's. They love us as much as we love them. My daughter would put her pup down on a wee wee pad to go during the night and the pup would come back to the bed and she would pick him up and tuck him in again. She never left the bed!
Carol & Buddy