My dogs are well behaved with children, never show any aggression toward me, they go on the furniture when they are in the house. They like the sofa, and are fine with my bed.
You have to be smarter than the dog though, and always have a plan. If the dog managed to get soaked with mud, he will think nothing of jumping up on the bed or on the couch the moment he comes in. So you have to have a plan for that, have a towel ready and towel him off. put a lead on him and tell him OFF when he get's near the bed (on route to the tub), it isn't rocket science.
I have never had a dog become dominant because I let them on the bed or couch. Not happening. For some reason they all think I am greater than chopped liver, and wherever they are in their doggy pack order, I am the human which just happens to trump doggy pack order completely. The dogs are smart. They know I am not a dog. Maybe it is because I walk on two feet. Not sure. But, I am not struggling to stay on top of them. I don't need to. They can go out of doors before me, they can eat before me or after me, or even, sometimes when I am eating I will toss grizzle and fat their way. Not once have they jumped up and stolen the food off my plate. And they aren't obnoxious about begging either. Well, Babsy does have deep eye wells that seem to talk, but she isn't pushy about getting at my food. In fact, she is the one that generally gets the fat and grizzle, etc, and I had thrown some skin away the other day, top of the garbage, when she came in, she looked at it, and I told the puppy "Leave It" and then went in and took a shower. 15 minutes later, neither she nor the puppy touched that delectable dainty, and that is what I expect from critters who can share my couch and share my bed.
It's funny, but people have every kind of gadget and correction collar on their dog, and are tripping through keeping them off furniture and walking through doors first, and training them daily, and the dog is still out of control. Why is that? I think we make this business of raising a dog way too hard. I know a guy that lets his pups grow up first, at 10 months he teaches them obedience, takes about a week. Done. I do it a little different, usually taking them to a puppy class and maybe obedience classes, not to train them, but more for the experience with other people and other dogs, and yes, we put the training in there too. 6 months or a year later, they still have it down.