Dogs that live with me while they're in training have to sleep in their crates until they earn a bed in my bedroom. Dogs are almost never allowed on my bed, since i move around too much in my sleep and end up kicking them anyway, not to mention I have heavy shedders-- and I prefer to wake up to my down pillow, not a dog-fur pillow!
But, Book and Daystar have orthopedic beds (made from old sofa cushions) on either side of my bed, so they're warm and cozy and comfy. Jet has yet to earn a bed, so he sleeps with his blankie and his baby (a plush toy skunk with all the stuffing out), in his crate.