Kito has ALWAYS slept in our bed with us, at the foot usually, because he's so "independent" but usually in the early morning hours, he creeps up by the pillows and sleeps right next to either my husband or I--it's so cute.
Then we got Abby--she is so big, we HAVE to get in before her, because her favorite spot is on the pillows--but she has a doggie bed on the floor too, which she goes to and falls asleep, but usually sometime during the night, she creeps up too