Initially I let me dog sleep on the sofa in my room (she was a pet/family, nothing sexual), she was very needy and had anxiety without someone around but in her last two years she had degenerative myelopathy and lost the usage of her rear legs but still loved life on her wheels, as soon as it got serious I always put her on the bed at night so she could cuddle and feel less distressed when she was awake and I wasn't.
She got so used to the routine after I started putting kids nappies on her with a hole cut for the tail (because of mobility, not incontinence) that she stopped waking me during the night to carry her into the garden; she was 17 when I had to put her to sleep and to be honest she was still excited about life and active but the degenerative myelopathy was affecting her respiration and I didn't want to die painfully from suffocation.
I think she had a great life and I still miss her every single day five years later.
Love your pets while you can, they just want to be with you, don't put silly rules in place because you don't want to deal with dog hair or some other trivial nonsense, your time together is precious.
