I am the very light sleeper in our house. My wife sleeps like the dead. That said, all the dogs do want to sleep in our bedroom, and our iggy sleeps in bed with us almost every night. I definitely used to be disturbed by their noises and movements, and sometimes they still wake me up, but mostly I have grown accustomed to it and am not disturbed the way I used to be. The thing that is most likely to wake me now is making sure that my oblivious wife has not rolled on the iggy and that the little punk is safe and sound, lol.
All that to say...it is definitely possible for us light sleepers to become accustomed to certain noises or things. It just takes time and willingness.