My dog's place was on her cushion.
I loved my baby, but the only time I let her sleep on my bed was the day before her death. I'm allergic and dogs are too dirty to let them into bed. I'd kiss her on the forehead, never let her lick me (gross, dogs always lick their genitals).
But they love like nothing else on this planet, truly precious creatures
As for cats I wouldn't even let one near me. Kittens may be cute, but the rest is vicious and rude.