Charlie loves to get into bed with us with us. However, he knows that bed time is not play time...
His favorite is to figure out how to get between the two of us and get himself under the covers lying on his back and head on the pillow (with his front paws on top of the covers), just like the two of us! It's absolutely impressive (and adorable!).
He doesn't sleep with us though. We allow him to get into bed with us to 'settle down', but when it's sleepy time, he has his own bed next to ours that he sleeps in (mind you, it is down-filled and independently climate-controlled, not too shabby).
So far, he hasn't done any 'indecent' thing in bed...here's hoping!