Does your dog sleep in your bed?

When I'm chilling I let him lay on my bed with me, so long as his feet are clean.
But at bedtime he goes back to his bed.

This evening I completely forgot he was in my room.
I started to drop off when I heard a loud sigh.
Anyways I turned and he looked at me, he then moved up the bed to place his head on my pillow.

Nope! Time for bed!

Sorry to say it but I fear this would take the leadership role I have and make him undermine me.

He's already cheeky when walking. If I catch up to him or try to make him walk my side he runs or jumps up at me.