Our toy poodle tolerates us in the bed beside him but would much prefer if we chose to sleep on the floor and let him have an uninterrupted night's sleep. Our toilet breaks in the middle of the night really disturb him.

Our 45 lb. Standard Poodle allows us to share his bed - both at home and in the Eriba. He usually curls up in a ball between our feet at the beginning of the night but by morning he is sprawled out full length with his legs extended and one of us is usually at the edge of the bed. At least in the Eriba we can't fall out.

Our Dachshund Otis likes to sleep in bed with us, but I only bring him in bed when it's really cold, as he's a dreamer. He likes to run and kick in his sleep
In the car, he sleeps on his bed on the back seat with a seatbelt attachment. He mostly sleeps, but occasionally looks out the window.
He would not be happy sleeping in the car without us, or in the caravan without us for that matter!