I think dogs can learn two rules as well. But since you said your one dog likes to try to get on the bed sometimes, I would just stick to one rule. Don't worry about hurting their feelings!! Dogs just want to please you and be near you. If they have a warm place to sleep that's somewhat near you, I'm sure they are as happy as can be

I would LOVE to see pictures of your Cockers. I have a 5 year old Cocker myself, pictured in my sig.