Same with me Nfk. From large 4 bed detached to 2 up 2 down cottage for retirement, just me and the dog - bliss. I have a trundle bed to make the spare single bedroom a twin (this bed is very low, and the dog tries to sneak on there), and a sofa bed in the sitting room, so when anyone is stopping the rule is no dog on beds or sofa, and when they aren't in bed, the catch is on both bedroom doors unless being supervised by me.
Re: the muddy paws. Do you keep towels by the door so paws must be clean before any dogs allowed in? I always give my dog a good clean as we come through the front door, and finish off with a couple of baby wipes, which will show up any remaining muddiness.