Sounds like you need a little more control. There are TONS of ways you can go about fixing this.
The first is that I'd recommend that you begin formal obedience w/ her.
Otherwise, you might try fastening a small cat leash to her collar or harness and letting her drag it around while you're home and w/ her.
When you approach her to get off your bed, tell her "Off". If she doesn't comply you can grab the leash that's laying there attached to her and repeat your command and use your leash to make her get off when you repeat yourself once. The same goes for her bed too. You should practise this a few times a day until in that day you get to the point where you say "Off" once and she complies and you don't even have to reach for the leash.
If she's the kind of dog that gets wise or tries to bite you when you reach for the leash, set her up. Invite her up onto your bed or her bed w/ the leash already in your hand. Take a few steps back...still w/ the leash and now tell her "Off", even though you *just* invited her up there. Doesn't matter. She's to get off when you tell her to every time, regardless of what she wants...and that seems to be the problem.
