Both our cat and our dog are allowed up on our bed. DH was against the dog getting on the bed for ages but now he's the first one calling her onto it and he gets offended when she prefers to stay in her own bed.
We have 2 indoor cats, and both tend to gravitate toward our feet in the summer, closer to our torsos in the winter. I keep a second comforter at the foot of the bed for them to sleep on, and it gets washed every week.