I have a strict policy banning pets from the bed. I never encouraged it, and none of our pets through the years ever seemed to desire it. To me it tends to blur the line in the pecking order. Probably a bunch of hogwash, but it is what it is.
One time my brother and I were sleeping over at a friend’s house, we got his sister’s room for the night, as it could accommodate the 3 of us. Me, being the oldest, slept on top of the twin bed in a sleeping bag. In the middle of the night I felt pressure on my feet, and kicked my feet up. Turned out to be their cat. I heard a rowwrr, THUD, as the cat hit the wall. The cat was ok, but me, my brother and friend all thought it was hilarious. My friend’s sister, not so much.