If you really want him on the bed with you, you might try
the following.
Get a special pillow for him. Place it on the bed.
Give him a command to go get on the pillow. Then place him
there. Tell him to stay. Start with a very short interval for the
stay, so you can praise him for successfully staying on the pillow.
Keep repeating the process and increasing the interval of stay,
as he's successful. Lots of repetition on this so he understands
what the commands are.
Then at night give him the commands and if he doesn't stay
on the pillow, place him and the pillow on the floor. It won't be
long before he'll associate getting kicked out of bed with not
following the commands. And major praise in the morning if
he stays where he's suppose to all night long.
Par...
Edited to add: If he starts whining to get up on the bed, when
you put him and the pillow on the floor for the night, you're
gonna haveta suck it up. Resolve yourself to some sleepness
nights in the beginning and not give in.
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