We have a chihuahua that sleeps half the night in our son's bed and the other in ours - PAIN IN THE NECK!! Why? Because they little guy is too old to make the jump on our bed so he wakes me up to help him up. I've tried ignoring his cries and whimpers but that is more annoying than just reaching down to give him the boost. I bought some of those doggie stairs and he's afraid of them.
Most of our cats end up on our bed.
Bucky has his "mommie" on the bed. He was a tiny kitten when we found him behind our refrigerator in the kitchen. Yes, I said we found him in our kitchen. We leave the back door open in the summer so the animals can come and go as they wish. I figure he was either dumped here or one of the neighbor's barn cats lost a kitten and he found our open door. Anyway, he was tiny and the first night thought I was his mommy. He sucked on my pj's until they were soaked so I gave him an old top. He's about 10 months old now and still cries at night until he locates his "mommie" and settles down for a good suck. You can lay there and hear him slurpping away for hours.
Blossom is our geriatric pet. She used to be our most independent cat. She'd leave for days. The only time she'd want to get in our bed was to tell us that she wanted out or food. But now that she's 16, her circulation isn't what it used to be and some evenings she decides to drool on us rather than our son. She insists on laying on top of me and nudges my arm until I agree to scratch her ears.
Lazarus - the most unique. This cat is unique! Found frozen to a concrete patio as a small kitten, we thawed him out, warmed him up and revived him. I never expected him to survive. It was cold so we would put him between our pillows to help keep him warm at night. He was a weak kitten for a while so he was carried like a baby in a carrier for a while. Anyway, the result is that as an adult he is more human at times that cat. He loves to hug you - He puts his paws around your neck and draws you towards him - like a real hug. He loves to nuzzle a chin. At night he likes to sleep with your arms wrapped around him, cuddled up. He'll look at your face and stroke your cheek, touch hair, and then he un-nerves you as he nibbles on your chin. He can't go to sleep until he give you that bite.
So, yes, I guess it qualifies that our pets sleep with us in bed.