Our dogs are not allowed on the furniture now. They were for years, but they damaged it so badly, and when we got slipcovers, they quickly ruined them by digging around "nesting". I had to put my foot down. I did buy them a big fluffy bed for the living room as a peace offering though
I like the idea of having a "no dog" couch as stated above for visitors. Sometimes it isn't even about a person not liking dogs on them (I do understand that too, however) or dog smell, but a visiting pastor (whom I love!) comes to our house all the time to visit my grandma that I care for that is on hospice care, and he is horribly allergic. As a family with a lot of food issues, I appreciate it so much when people cater to our needs even though they do not have to. I like to be considerate as well.
I don't sleep with my dogs. They are crated at night. I co-sleep with my babies, no dogs allowed. Maybe when they are grown, but not in the meantime.