Clifford sleeps inside, sometimes on the bedroom floor, sometimes by the back patio door, sometimes on the tile in the hallway, when too hot he goes to the cement floor in the basement. When he is ready to wake me up (always before I am ready) he comes up on the bed, licks my face and lays on top of me, or occasionally next to me.
Annie, my Jack Russel sleeps under the covers between me and my husband. I used to worry we would crush her, but she is 8yrs old now, so it obviously is fine. If I'm moving too much she will go sleep in her cage, making sure to indignantly bang around before settling down.