Do your dogs sleep in your bed with you?

I've also had this conversation with friends, about whether pets should be in your bed with you!
My dog and my cat sleep on top of the bed with us. They're more like little foot warmers for us - and that's just where they like to lay, they seem most comfortable there. Near enough to us that they know we aren't disappearing on them, but they still have their own bit of space. I know plenty of people though that sleep with their pets under the blankets with them too. I don't see it as that unusual since I view my pets as a part of the family and not just animals.