I have beds for all 4 dogs in my bedroom and also in the living room. Java usually tries to start out on the bed but I generally make them all get on their own beds to start out. They sneak up on the bed during the night. It may only be 1 dog but I have had all 4 on the bed (a queen & it is just me).
If I wake up and can't turn over because of the dogs, they get told to "Get Off" and they go back to their beds. Occasionally, Jave won't like the only available bed and sleep in the living room until she can sneak back up.