My doggies have passed on (last year and the year before), but yes they both slept with me and I miss them dearly in bed with me. One slept cuddled up close to me right by my stomach.....he liked that and would dive under the covers when I got in bed. My other one slept on the bed at the foot, guarding me. They were both small...a Chipin and a Poodle who lived very long lives (17 and 19).
In the past, I did have a big Shepherd who slept with me but I had a king sized bed and he stayed on his side.
I saw a headline not long ago saying it might not be healthy to sleep with pets....it surely wouldn't be if they have fleas and ticks. There may be some other reasons too but to be honest, I only read the headline. I think I just didn't want to know what the article said.