My comment: "Full disclosure - Marshall (Belgian Malinois K-9) sleeps in our bed with us." Despite the fur, the twitching, and the unabashed space-hogging, research has shown that approximately one-half of all dog owners choose to share their beds or bedroom with their pups . . .
A dog will take commands better, and can be convinced to stay off the furniture ... as long as you're watching. A cat will sleep wherever it damn well pleases.