Itās up to the individual I guess. Our dogs (spaniels) were never allowed upstairs, let alone on the bed, but as far as DD2ās little dogs were concerned - that was a totally different story and they had been allowed to sleep with her from the word go. Now, as soon as I put the lights off and the alarm on, the dogs would be upstairs and on the bed before Iād taken two stairs!
Luckily small dogs, then when the elder died last year, thereās plenty of room for me and the other one. He doesnāt shed and although he starts off on his own throw at the bottom, I usually wake to fine him snuggled against my back.