Do you let cats sleep in your bed?

After years of sleeping with three dogs in my bed, cats are nothing. Actually our cats don't like sleeping in the bed with us. They will sleep on the bed when we aren't in it though. I think all the tossing and turning we do drives them nuts, since they are really picky about being disturbed.

What really drives me nuts are when my cats go under my bed. It takes forever to get them out, and I can't lay on the bed because I'm worried it might crush them or something.