The last 2 years, I have been letting Madeline and Lucille up on my bed! We have a funny routine. Madeline will come sit in front of me and look at me around 1030pm, after our evening walk. This is how she communicates with me- no barking, no whining- just a simple silent longing stare. She either wants affection, food , or the bed and I can figure it out by what time it is! So I walk her into my room and help her get on the bed. She can’t do it herself, poor girl, because of her hip displasia. She gets up and I quickly block her from my side of the bed. She stretches out with her back legs open behind her- like turkey legs, it’s so damn adorable. She closes her eyes and starts to snore instantly.
Around 3 a.m, I wake up instantly to Lucille’s footsteps coming down the hall. She waits at the back door for me to open it. She always has a nighttime pee at this time. It’s the mom mechanism in me that can wake up without effort or pain to to let her out. Then she comes back in and walks to my bed, tail always wagging. She also needs help getting up, she has arthritis in her back legs. I have tried to sleep with both of them on the bed, but its too much- so at this point, I ask Madeline to get off and go to the bed right next to mine. I help Lucille up and then I cover her. She loves to sleep under the comforter.
This is our nighttime ritual almost every night. I love having the girls breathing next to me. I love being in slumber with them. Benjamin meanwhile is very content to sleep right next to the bed on his huge orthopedic mattress. My room is very dark (black curtains help this!), so it feels like a perfect den with our pack of 4. It feels like we are all so connected throughout the night.
I love the bond that sleeping together creates. I tell my clients with difficult dogs- no bed, no couch!, but if rehabilitation happens with your pups- go ahead, ask them back into your bed- spoon your dog and drift off 
into dreams together.