I think the question is phrased perfectly. Yes I sleep with my pets. They seem to think it is their bed and I am lucky enough to join them in it each night.
We have two 50lbs dogs and two 10lbs cats. They can sleep where ever they want. Usually I wake up with one or both cats on me. And sometimes a dog or two at the foot of the bed.
On the weekends it is usually all 6 of us in the bed at the same time. Taggart prefers to sleep in his crate most of the time with the door open. And Zoee gets on the bed less now days since it's becoming more difficult for her to jump up there.