Gypsy is 16weeks and she sleeps in the bed, starts off on my pillow and then moves, normally against the back of my legs or against my tummy at night, also under the duvet and then in the mornings she moves to snuggle near my head so when I wake up she's the first thing I see... which is usually her butt!
She's been sleeping my bed since she was 10wks, she has a pee pad in the bedroom and
always goes on it, I've never had an accident. She has a step to get up and down easily and she's made a hidy hole under the bed from some old curtains and she stores chews and toys under there in the day so she can amuse herself if she wakes up at night.
She couldn't cope with being in the crate when someone was home so I had to move her to bedroom cuz she'd keep me awake all night and not settle at all. Once she got to sleep in the bed she loved it.
Maybe she just needs time to get use to the idea, Gypsy will come and give kisses sometimes in the night but I just tell her she's a good girl and to lay down, lift the duvet up and she just crawls in and goes to sleep! If you've got a blanket or something in the crate then maybe you could try putting that on the bed for her to learn to associate the bed with sleep same as the crate is associated with sleep.