I have two dachshunds and one inside/outside cat that is mostly inside, plus 2 outside cats. (Recently lost a second inside/outside cat and miss her SO much.)
Anyway, both dogs and the cat sleep with me. The dogs are on either side of me and under the covers, and the cat starts out on my chest on top of the covers, then moves to half of my pillow.
If I fall asleep in the recliner, I'm still surrounded by the furry kids. Usually one dog is on my right side and the other is either between my calves or tucked on my left side. The cat drapes himself across my shoulder and chest.
They are my alternate heat sources and help to keep the electric bill lower in the winter.
The dachshunds also make sure I don't go to sleep with dirty ears. Apparently I get them AWFULLY dirty throughout each and every day.