Techinically no, but I always let a couple up before my husband comes to bed. He has to make them get down so he can fit in! Pacer almost always finds a way to sneak back in during the night. He's pretty good at getting up really slowly and quietly so no one hears him. He's also learned that I won't kick him back off so he often keeps my feet extra warm.

There is always at least four or five cats on the bed with us too.