Honestly - dogs on a bed!!!
Mine NEVER went on my bed
never
she told me
and the Alsatian sized circle of fur at the bottom on the bed was caused by air current when I was out and she was in the house on her own
she was very fussy about "The Rules"
it was just that rather than "never go on Dad's bed" it was more like "never get caught on Dad's bed"
to the extent that is something was very wrong at night she would just sit there as assume I would know
and in extreme circumstances she would put one paw in the bed - normally quite heavily!
Most of "The Rules" she worked out herself and I never needed to train her in them
I just did the "how to walk on a lead" but even that she had her own rules for and we just had to operate to a combination that worked for both of us
Still miss her - her lead still hangs next to my bike - can;t throw it out