I would have to say that Baily and Mesa sleep in bed about 40% of the time. With the DH up north, its more like 100% of the time. So we have had to learn how to navigate sharing a king sized bed with two 50lb dogs.
First Baily. One of her nicknames is Snuggle-up-against (like Snuffalufagus). Baily wants as much of her touching/covering you as possible. Her head will be on your chest or on the pillow pressed up against your head. She will sleep like that all night long. The first time she does this it is cute, eventually it gets rather annoying because when you move at night she repositions herself for maximum contact.
Next Mesa. Unless it is unbearably hot, Mesa will not lay down unless she is under the blankets. She nicely curls herself into a ball at the foot of the bed but in the middle of the night (most nights this happens a couple times) she overheats and starts thrashing around until she rids herself of the blankets. 10 minutes later, once she has cooled down, she starts the process all over again. Mesa also makes so much noise when she sleeps. She snores, she sighs, she woofs and makes some noises I can't even begin to describe.
This said, I still enjoy sleeping with the munchkins, most nights. I have also found that letting them sleep in bed means I get to sleep in :)