My last dog always asked to sleep on my bed when my husband was away. He never, ever attempted to get up when he was home.
My current dog won’t even come on the bed if I ask him to! I miss sleeping with a dog.
Saw an article in a paper recently saying that sleeping with a pet is good for you ( apart from all the extra cleaning you have to do to get rid of the hairs on the bed)
He's just come back from the couple he stayed with while we were away. They let him sleep with them, and for the first time when he got back, he howled off and on all night. Settled better the next night.