There was a time when I didn't have any of my cats in bed with me because I found the cat hair to be itchy but, having lost a few cats that had been with me for many years, I now value every moment that I have with them, and some of my cats very much enjoyed sleeping in the bed with me. So now I simply change the sheets often.
Cutie, one of my 26 year-olds, doesn't spend the whole night with me but she always comes to bed with me, and likes to be there when I wake up in the morning. Actually, she likes me to wake up and stay with her for there for as long as I can in the morning. When I was married, she would sleep between us and push on my wife, trying to get her to move over. That was her passive-aggressive resistance to my marriage.
Despite the fact that I make several trips upstairs during the day, she seems to know when I am going to bed. Typically, I'll go upstairs and brush my teeth and stuff before going to bed. When I come out of the bathroom, she will be lying in my spot in bed waiting for me.
Ella, the younger one, will sleep between my feet, or on top of me, but she splits her time between me and my wife. Lydia, Cutie's sister, wants nothing to do with any of that stuff. She has her own bed, thank you.