We have two dogs. They sleep in their crates, where we put their beds.
I don't allow dogs in our bed. Our bed is where my husband and I make love, cuddle, bond and sleep. It's no place, in our house, for animals. We're also of the opinion that allowing dogs in one's bed messes with the Pack Hierarchy that good households set up, confusing just who the Alpha is. Alpha and Alpha Bitch get the main bed, juveniles (our kids) get smaller beds, doggies get their crate beds. This method works well in our house.