The question you should first ask yourself is this: do I want to sleep with my dog or not?
Even if you're barking mad about your pet, you should remember that dogs are not exactly the cleanest animals in the world. Some dogs even eat their own business, or that of other dogs. If you let your dog sleep in your bed, you need to accept that you'll find hair and other unpleasant items that have stuck to their paws on your bed.
Cleanliness aside, set some time aside to observe your dog and their reactions:
Does your dog leave the bed immediately and without growling when you ask? Does your dog respect your personal space? Does your dog wait until you invite them into your bed?
Don't forget that you're the master, not the other way around, and if you ask your dog to get off the bed, they should obey without growling or showing signs of aggression.
Your dog loves routine. So, if you let your puppy sleep in your bed, it'll be a lot harder to stop them when they grow up.
Caution: For dogs with aggression or submission issues. If your dog growls or bares their teeth when you ask them to get down, your dog has simply taken over this space as their own. In this case you have no choice but to ban access entirely.
Also take note that everyone needs to have and recognise their own space. Your dog needs a space of their own to relax and hide away when the desire or need arises. Children should also be taught not to disturb your dog when in their basket, just in the same way that you don't like being disturbed when in your own bed!
What about you? What's your advice? Do you sleep with your dog in your bed or in your room? We'd love to know about your experiences.