I let my dogs sleep wherever they want. Sadly, that’s usually not cuddled up right beside me, sometimes it’s at my feet though. I love fluffy dogs, and I usually like their smell as long as they didn’t roll in anything stinky or something, they wouldn’t be on the bed if that were the case though. And I’m a pretty heavy sleeper, the only time my dogs ever wake me up is if they really need to go outside which doesn’t ever happen because that’s the last thing we do before I go to bed, or if something is freaking them out, like a smoke alarm is beeping for example. The only other time which is the most annoying and most common, is if someone wakes up before me they let them outside, then the first thing they do when they come back in is come and jump on my bed and wake me up, it pisses me off when that happens. Just leave the dogs inside until I’m awake, I don’t know what’s so hard about it.