Every now and then I'll bring Plato on my bed to pet him, other than that, he isn't allowed on the couch/bed/anything, and never tries to go up. Ever.
Some dogs really do change personality wise when they are the same height as you/above you. If your dog listens to you while you are laying down and he is standing up, he knows who is in charge.
They also probably don't think it is your "bed", since the room you sleep in is "the den", wolves don't have "beds". They just inherently know, or should know, that the alpha gets the high ground.
If he was inherently more submissive, or any dog, it's fine to let them anywhere that you feel comfortable with, but never with a dog that is a social climber.