Do your dogs sleep in your bed with you?

I can not for the life of me sleep without hugging something. My dog is perfect, he is about 35lbs and loves to cuddle while he sleeps. I normally go to bed and he follows me and curls up next to me. He loves to sleep belly up just like I do, so I always wonder what we both look like asleep. The only downside to sharing a queen sized bed with a 35lb dog is he seems to think the bed is all his. When he beats me to the bed first, he likes to sleep diagonally instead of taking his side of the bed. This medium sized dog attempts to take the most space he can while I try to deal with the small corner he gave me. Maybe I'm not doing this right.