Ours mostly sleep downstairs after their dinner. We have a last quick walk at about 10, and they come in and go straight up to bed.
Our old boy huffs and stomps upstairs sometime between 10 & 11 if I don't let him out at the approved time. (If he's had a busy day he goes up earlier, and with less fuss.) He'll be on the human bed when I go up. He is fine indoors until morning, but if he's not settled yet I usually get my coat and call him back down again - the spaniel HAS to go out before bed, but that one sleeps with his nose against my feet until whenever.
I insist that 2 people in the bed = no dogs. They have dog beds in the bedroom. The lab is usually happy with that, he likes his own space and slithers down when he hears DH coming upstairs. The spaniel definitely prefers to sleep on our bed, touching me. He gets down at the last possible moment, and if I wake up, he's almost always sneaked back up. The lab occasionally climbs back on the bed if it's cold. He's a morning dog, (his belly is definitely my back up alarm clock) and disapproves of lie ins. Spaniel will stay in bed as long as we want to. They'll both have a minute in the garden, eat and go back to bed though, whereas once I'm out of bed I'm awake for the day.