I used to think it would be great to have a dog sleep up on the bed with me. Then, I took care of my sibling's dogs. Both sleep on the bed. It is sure uncomfortable!
My previous dog, a Lab, only liked to sleep on the bed when no one was in it. I guess people took up too much room. She preferred her dog bed with a blanket on top for comfort.
I don't let Misha sleep with me. She has a metal crate in my bedroom that she sleeps in. She has a bed and her favorite blanket which she loves sleeping under. She's usually all wrapped up in it at night. We're slowly graduating her to a bed only. I leave the crate door unlocked now. Soon, we'll leave it open to see how she does. She doesn't mind the crate, though. It's large for her and she prefers being inside something anyway.
Where does your dog sleep? Is it up on your bed, on a special dog bed, or outdoors?