Our 3 Rat Terriers sleep next to my wife and me. Chewie waits for me to get settled under the covers, then hops up on the outside edge of the mattress and snuggles next to my chest. If it's cold, he will tap me on the shoulder so he can be under the blanks. Ceri sleeps near the head of the bed between our pillows. Jasper likes the outside corner near the foot of the bed. It's always a 3 dog night at my place :-)
That’s how it was with Rascal until he got big. Now he’s in my son’s quarters and behaves exactly as you describe.
I think occasionally he thinks of himself as a human! LOL