Mine sleep in their crates in our bedroom, which are set up with lots of blankets. I can be a bit of a violent sleeper, and have been known to kick and punch in my sleep.
So, they're in there in part for their own safety.
They both love their crates though, so it works out. It also ensures that their crate training remains at the forefront of their mind, because I think it's important for dogs to be comfortable with being crated throughout their lives in case they need to be for any reason (vet visit, injury, strange place, etc)
Since we rearranged the computer room, we took the boys' beds out of there. They were not happy with that, so we ended up putting them back in our bedroom, next to my side of the bed. They either sleep there, or wander out to one of the beds or crates in the living room and dining room. In the summer, they will probably sleep in the living/dining room because it stays cooler in there than the bedroom.
One on the bed - one on the dog bed or floor depending on their accuracy when they flop down !
Their choice !
Jasper will jump on my bed to keep it warm if I go out of the room and jump off as soon as i return ! Dylan will hog the bed until I thump heave swear at him to get out of my way and all of the time his tail wags !
Chamois always sleeps in the bed on Mark's side and she stays put all night like a rock. Toby moves between Mark's side, the dog bed at the foot of our bed, and the rug at the top of the stairs - he's only allowed to come over to my side on weekday mornings for 10 - 15 minutes of "mommy time" between when the alarm goes off and when I get up, but he does this without fail. Three, and sometimes all four cats, are on my side or between us. Even though it's a king-sized bed, it gets crowded!
Between the 6 dogs. Lily and Rhumba are always in bed with us. Kramer (Maltese) too.
Gryphon on occation will sleep with us - otherwise on the floor on a dog bed or on the sofa. Same goes for Sully and Cinder. On the floor in the bedroom.
Raven sleeps in her crate. Lady sleeps in one of the kid's beds and Freddy will sleep in the other. They take turns. The puppy sleeps in her crate for the first half of the night. When she wakes up, we take her out to potty and then she sleeps with my daughter the rest of the night.
Spud and Hoppy sleep on dog beds on the floor at the end of our bed.
Sally sleeps wherever she pleases. Either between us, or at our feet. Sometimes, she gets up and goes in the crate in the bedroom and sleeps for a little while. But then it's always back up in bed with us.