My dog sleeps in the same spot every night. Right under my bed near my feet. I know deep inside he wants to sleep on the bed with me but I forbid him to do that. His hair gets all over the sheets and I don't like that one bit.
If it isn't at night, then he is free to sleep anywhere in the house. Half the time he sleeps on the bare floor in the middle of the hallway as it is very cool laying on the wooden floors. He does have a thick coat on him. So staying cool is a must for him. Downstairs in the living room he sleeps on the couches as well. I specifically bought black couches so his hair is not visible to the naked eye.
That's about it really. He has every right to every nook and cranny of the house with the exception of my bed. That will always be off limits.