Plushie squad! I do remember when I had my bed all to myself in the past, I would let my (very large) dog onto the bed. I was totally comfortable with that. But humans? eeeh, idk lol
Human contact is nice for a bit, but once you settle down for sleep it's hard. Especially as I flip from side to side regularly. Dogs on the other hand have a way of curing up and making contact as a comforting warm pressure point. And when you move they just adjust. What's hard is if I leave the bed trying to lay back down is like playing Twister fitting myself between all the sleeping dogs. Its especially easy btw with Chihuahuas. They were essentially designed for this type work. 'Aztec hot water bottles' is one name for them.