My dog's not allowed on the couch or beds... however we leave her inside when we go out if it's cold and although she is always on her dog bed when we come in there just so happens to be a warm spot on the couch... I may or may not leave a blanket on there now to keep the dog hair off the couch that she's not allowed on lol.
as for the beds... the cheeky shite waits until I go to sleep and sneaks off to the kids beds. I know I could just wait up for a couple of nights and send her out but I don't actually care enough to do so haha.