Do you let cats sleep in your bed?

We let our cats sleep with us in bed whenever they want. My wife and I find their heat comforting. They also sleep on our leg and feet area. The most adorable thing is when all of them sleep beside someone who is not feeling well. I was under the weather lately and my favorite cat, Beh, slept with me all three nights when I was sick. They kinda absorb the stress somehow.