A video from HuffPost Live.
Look….it goes without saying that where and when it is practical to do so, we should/could sleep with our pet but the cat or dog usually decides. That is my impression. You can’t carry your cat to you bed and plonk her on it hoping she’ll stay for hours. She might but she might not; she decides.
What does your spouse think about it? That is the big one. Does your human companion agree that your non-human companion can sleep with you in bed?