We never let our dog sleep in our bed. He had his own doggy bed in the livingroom, which he used most of the time, unless.......the chair called his name. lol
We often caught him sneaking off the big recliner in the morning where he had slept through the night. He would normally hear us getting up and get off the chair and back in his bed before being seen.
However, as he got older his hearing was not so good, and he would be discovered fast asleep in the big chair.
I never wanted to have the dog hair or chance of fleas, on my bed sheets and blankets and furniture.
And so as a young puppy, he was trained to stay off the furniture.