Luna sleeps in bed with me, but she's teeny and sleeps under the blankets, so most of the time I barely notice her. She gets to choose when she wants to sleep with me, too, and on the days when she's grumpy
she goes off and finds her own place to sleep.
Keegan does not sleep with me. He's only 55 pounds, but my bed's only full-size... and his legs are long. I let him lay on my bed while I watch TV before I go to sleep, and if he wakes up before me in the morning he can jump up for the last 20 minutes or so that I stay in bed, but the in-between time? No. For one thing, he sleeps on top of the blankets of course so I always feel like he pins me in. Plus I guess I just need room to stretch.
He sleeps on a bed next to mine. Occasionally he sleeps in his crate, which is at the foot of my bed.
When I stayed at my friend's house a few months ago, I got a king-size bed, and Keegan got to sleep in the bed with me. We both enjoyed it. I guess if I TRUELY loved him, I'd get a king-size bed so he could sleep in it every night.