my rule for on the bed is "if I invite you" and "get off when I tell you"
allowing a dog to "claim" furniture as their own can cause behavioural issues, but as long as theres boundries in place and rules to be followed Ive never personally had an issue with it...
I don't find it helps bond any more or less (I find training/walking/spending general time together does that) But I Do love snuggling with my babies on the ouch and bed.
I don't sleep with my dobe in the bed BUT that ONLY beause shes a bed hog..how a 75lb dog can take up as much space as she manages to I don't know...I have a queen sized bed and she not only manages to steal about 3/4 of it shes also a blanket and pillow hog lol.
but if im just laying around reading a book or watching a movie they all get to come snuggle on the bed as long as rules are obeyed.
general rules being no rough housing, no growling at eachother, and if I ask them to move they do so immediately.
dads gsd doesn't go upstairs she sleeps downstairs where shes beter able to do her job as early warning defence system, but she does get lots of couch snuggle time.
I do however suggest starting as you mean to go on...don't share your bed with a new dog the first week then expect them to slepe on the floor or in a crate....get them used to the preferred sleeping place FIRST then allow on the bed/couch/whatever as a once in a while treat...its much easier then if you cant have them share the ebd one night for whatever reason.