During my teen years, we had a huge gray cat. Due to his size, we all thought he was part bobcat. I wonder how his diary would have read, as we gave him free rein. He'd generally sleep on my bed, and it never bothered him that I'd occasionally roll over on him.
He took great pride in driving our dog crazy whenever he was in the house. Those two never did take a liking to each other.
BTW, we learned our lesson (re: giving in) with our two oldest (now 18 & 20). Our six year old gets away with far less than his siblings did. Amazing how that works!
The 18 year old is trying to get over the shock from what I told him at the start of this semester: study hard and get good grades this semester, or he's paying for it next year, unless he agrees to matriculate at New Mexico Military Institute.
Our daughter is graduating from college this May, son is homeschooled, a junior in HS studies. I honestly like both of my kids - they are fun to be around, smart, and most importantly, really nice people.
Best of luck with your children.