Achiro - ya forgot the obligatory "other" option.
Generally, the dogs do not sleep in the bed. Occasionally, Boo "asks" to get up on the bed and sometimes we let him, mostly because he either gets too hot or is annoyed by my fidgeting, so he never stays long. If I am out of town, I'm pretty sure Marlin sleeps in the bed all night. I don't let Marlin on the bed because 1 - favoratism 2 - he doesn't ask, just hops up, which I find annoying 3 - he is a "licky" SOB and 4 - he seriously hogs the bed and an 80 lb dog is not comfortable lying on me (to me, anyway).
Mostly they sleep on their doggy beds on the floor. Unless they are particularly gaseous :evil: , then they sleep in their crates in the kitchen.
Tina