I have 5 dogs, but 3 are crated at night. The other two roam freely in the house. I am a fanatic about having clean dogs, flea free, groomed all the time. The only reason mine don't sleep in the bed with me is because I have developed very bad allergies to just about everything on my property and in my home this past year.
I also don't like feeling restricted when I sleep, but they are definitely easier to move than my husband. My dogs are still allowed in the house, just not on the furniture. We were also having a "pack leader" struggle in the house, so I had to claim the choice places of rest, bed, couch etc, as mine...but that's another story. Anyway, I feel there is nothing wrong with allowing your pets to sleep on your bed. Besides, my pets are cleaner than many people I know!
I will add that if given the choice, my husband would love to have at least the little dogs cuddle up with him, if he could.
Here he is with one of our big dogs, Lyv:
(never mind the totally messy couch
I have since had to get a new couch, faux leather, so as it doesn't hold in as many allergins.)
Here is my daughter with our other big dog, Lacey. My daughter was ill at the time.
And oh yeah, they sleep in the tent with us when we go camping too. Keeps the kids warm!