Both of my yorkies sleep with hubby and I. We have Topher, just over a year old, and Sophie, who's 14 weeks old. They each have their own 'spot' and though they do move around a bit, they know that bedtime is time for quiet so they stay put till morning. Usually when hubby gets up at 7, they both get up to do their business and have some breakfast, then come back to bed withi me till i get the kids up for school.
Both pups slept in bed with us on their first nights in our home. Topher had one accident in all this time and Sophie has yet to have one. They know that while on the bed they have to behave.