We have two big shep dogs so they have their own beds downstairs. All our cats sleep in two different groups and have their own rooms. One cat does sleep with us on the bed though and has since we brought her home at 7 weeks of age 7 years ago. 'Stinky' is the only one that my husband will allow on the bed overnight and she has a soft fleecy blanket that is at the foot of the bed on my side. It's really funny, when we get into bed she's so chatty and comes up and chirples and walks all over us and does rollies and has a great time but then when it's bedtime my husband says 'go to your bed' and she gives him a look like "really? so soon?" but then she makes her way down to her blanket and curls up. None of our other cats follow his instructions (imagine that?!? ) so I think that is why he let's her sleep with us.
p.s. during the day we let our other cats nap on our bed and we turn Animal Planet on for them. It's just overnight that my husband only lets one of them stay. He's had some bad experiences with cats racing over him in 'sensitive areas' at 3:00a.m. and he's not too thrilled with that. lol