Well, After always crate-training all our dogs, I gave in with Jaeger and he slept on our bed when he was little. He never had an accident and never fell off, just woke me up when he had to go potty. Because our oldest dog, Peanut, an alpha female, slept on her bed next to our bed, it was an easy transition, once Jaeger got too big, to move him to his own bed next to her's. He idolized her.
Jaeger was used to being with both parents and eight siblings every night, and being crated very young was too traumatic for him. He's a sensitive guy. We just crate trained him later on when he was used to everything and he handles having to be in there fine now. He still sleeps in our room, though, where Peanut used to sleep.
I don't think every dog is the same, so there isn't one universal way to handle all of them. Our next pup stayed in his crate at night until he was over a year old and did just fine with it.