Depends on the dog. I would not let a highly dominant dog sleep in my bed, nor would I let a dog lacking in confidence sleep with me, it just feeds into a behavior I'm trying to minimize. I would also not let a developing dog (under 2 years of age) regardless of disposition sleep with us. My dogs are crated the 1st year of their lives and then are free to sleep downstairs wherever they please.
My male, not a chance, but my female GSD is very passive, independent and gentle. Her sleeping with us would be no problem behaviorally. That said, she's ultra sensitive to any movement, so if my wife or I moved a muscle she'd groan and jump off the bed (it's quite funny, actually) so we don't even bother. Plus,she prefers sleeping by the front door, always ready for the evil Amazon delivery man to show his face lol.