Grits was taught as a puppy to sleep in a kennel. Then one day he decided he didn't want to sleep there anymore and so we would have battles every evening about it.
Finally, we gave up and decided to get him a big doggy bed that he could sleep on at the foot of our bed. This works pretty well usually, but once in a while I get sucked into letting him up on the bed.
This is great for him because he loves to sleep pushed up against a warm body. It's not so great for me, because with the constant scrouging (crowding, squeezing) I don't get much rest... but at the same time I like knowing that he's there beside me.