We let our dogs sleep in our bed if they like, which is a super-king. Two of our dogs, our Puggles Eddie Haskell and Chauncey Gardener, sleep there every night. Our Westie-Bischon mix Candy varies in her sleeping preferences: sometimes with us, somtimes with one of the kids, and sometimes on a doggie bed by the fireplace.
We also have dogs we foster with Planned Pethood, and they are welcome to sleep wherever they prefer. There is sometimes some conflict with the Puggles about new dogs sleeping too close to Mom or Dad, but it is important to reiterate the fact that you are the alpha and reprimand the "established" dogs when they try to use your bed as a wrestling ring for hierarchical battles with new arrivals.
Still, what usually happens is that the Puggles wind up with the more "privileged" spots at the top of the bed, with the newer dogs at the foot.
Now, there is also another territorial battle we recently encountered with Eddie Haskell. When my wife goes to work, Eddie starts collecting her shoes and odd items of clothing and puts them on the bed. If another dog arrives near his Shrine of Mom, he gets really pissed and grumbles at the interloper: