I would look up NILIF (Nothing In Life Is Free) and start implementing it in your routine. If that had been me, she would have been booted off the bed the moment she had growled at Sugar. She also would have been dumped to the floor the moment she had growled at Marlin while on your lap.
I use NILIF with Ramone and it has helped us tremendously. I will have to use it his whole life. If I start to slip with him, he starts to take advantage.
Good luck.