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Henry doesn't sleep with us all the time, just when one of us gets up and leaves.

Now he sleeps in our bed while we're gone and sleeps on the couch with us often. The only issue I would see with a dog sleeping with you is if they start resource guarding the bed. Never had that problem. Henry does wait to be invited, and he will get down if you ask him. We're polite to him and he's polite to us