My dogs sleep with me; their snoring and dreams, “running” on their sides, chasing after dreamland frisbees and their muffled, dream woofs, are the most peaceful thing to sleep to that I can imagine. I could do without the occasional fart, lol, but wouldn’t dream of having it any other way.
The female enters the bedroom and paces back and forth dragging her paws on the carpet. If this does not annoy us awake she will paw the side of the bed.
If my wife or I don't let them out there is usually a prize for us in the morning.