Do you let your pet(s) sleep in your bed with you?

We have before, but we didn't get a full comfortable night's sleep because he likes to sleep between us and he is so small we were always afraid of rolling over on him. We don't do it any more but we came up with a solution...we bought a dog bed and put it in our bedroom beside the nightstand and he loves it because it's cozy and soft as well as he knows we are there in the room with him so he's content.