I Had a Yorkie, Kobe who recently passed away.
when he was a puppy, he used to cry to get in the bed with me, and then he figured out how to claw his way onto the bed. He would sleep on the bed cuddled next to my hair and I would sometimes hear sucking noises. (probably thought I was his momma) LOL.
then as he got older. He would sleep on HIS bed on TOP of MY BED. Getting older he still liked sleeping on the bed, but he had to be touching some part of my body, leg, arm, side, stomach (spoon), feet, whatever. When it was cold, he LOVED sleeping under the covers.
At one point, I lived i a place with wood floors and since he liked elevation, he had his own special chair (next to my bed) and his bed on top of the chair. He would jump from the chair to the bed (like a cat) picking where he would like to sleep. My BF at that time wasn't big on the dog sleeping in the bed, but he would relent. Kobe would start on the chair, but by morning I would be sandwiched between man and dog. LOL. If my BF woke up before me, he would politely pick Kobe up and put him back on his chair. At this location in the winter time, he liked to sleep UNder the bed next to the radiator.
Once I bought a higher bed( 2 years ago), it was too high for him to jump on, so he would either sleep on the floor (he had a really comfy pillow) or Whine for me to pick him up. By the morining though, he would normally be on the floor. (I bought stairs but they freaked him out, and he never used them.)
Near the end of his life I layed on the floor a lot with him. Got all of my cuddling in. This is one of the things I miss about him the most. I miss my cuddle bug.