To each his or her own. I’ve had dogs all my life, as many as three at a time. Large and small, alpha to very timid. Every one of them has been welcome to sleep in the bed with me. It’s invariably their favorite part of the day, they love it. “Let’s go to sleep” is all they’ve ever needed to hear and off they’ve went, happily. I’ve had a few who wouldn’t and they were the meekest. Even they enjoyed bedtime though, and slept right beside the bed.
Never had a problem with any of them thinking they ruled the house. They all knew I did. I don’t think it’s at all necessary to deprive them of the physical closeness of sleeping side by side just to prove it. They do love it so, all of them I’ve ever had.
The big difference is that when you tell the dog “off,” he jumps off the bed. I like having a dog who will sleep next to me, but it is at my bidding.
A 120lb dog who won’t follow commands and growls at his owner is no joke.