We have two, a (large, 100#) Golden Retriever and a smaller English Cocker. They both sleep on the bed (king), at least to start. Usually, in summer, the Golden will get off pretty soon (he gets hot), though in the winter he will sometimes stay the whole night. We started them both in crates or crate equivalent (the bathroom), as I was afraid of hurting them or them needing to "take a break" in the middle of the night. Luckily (for me), my husband always wakes up in the night, so he would just take them out for a mid night potty break. When they were fully potty trained, we let them stay in bed with us.

I'd love to figure a way to let them stay with us from the begining, but this system worked for us. Now if we could just get the two cats to stay off...

Jake's mom