Yes and no.
The beagle I had with my ExH slept in bed with us every single night from the 3rd night we had her. She was a brat, and would whine as loud as humanly (doganly?) possible in her crate until we let her in bed. For the most part I enjoyed it, but it did get annoying sometimes. When I get to see her now, I do still let her in. She's warm and comforting, but if she was with me full time I might rethink it.
The dachshund I have with DB does not sleep in bed. He sleeps in his crate next to it. Sometimes, if he has to go potty around 6am, DB will take him out then just let him stay in bed with us the 40 minutes until he has to get up for work. And when DB is gone at night, I'll let him sleep with me for the comfort.