Yeah our dog usually sleeps on our bed.
He's really fucking good at sleeping. Never wakes me up either.
Sometimes I wake up and my cat is so still I think he's dead, so I shake him and he just lies there and I freak out because I'm in that period of half-sleep where my brain is irrational and finally I yell his name and he looks up really slowly like he's offended.
Feels good man.