I should point out that I actually don't mind dogs on the furniture or in beds, in case you were wondering. In fact, I welcome it. There's something about seeing sleepy dogs curled up on furniture that makes the house feel more cozy. More down-to-earth. ("That's because you have actual earth on your furniture," my stepmother used to say.)
I do, however, like to keep some pieces of furniture dirt-free, so when I first adopted Chloe, I simply taught her (using clicker training methods) which pieces of furniture were available for her use and which were forbidden. Because the clicker training method is so easy, quick and brilliant, Chloe quickly learned that one corner of a certain sofa was "hers" and that she was/is also welcome to sleep on my bed at any time. I remember how much trouble my neighbor went to trying to train her dog to stay off her bed, whereas I was training my dog to jump onto mine.
Anyway, it turned out that the only time Chloe wanted to sleep on my bed when I wasn't in it. Chloe, it turned out, was and is not a snuggler. This saddened me to a certain extent when I first adopted Chloe-I personally love to snuggle and I had never met a dog who didn't. But I knew I had to accept my dog's needs. I don't know what happened to Chloe in her previous life that led her to keep her distance from humans; I don't know what private sorrows she holds, or how her trust was violated. But I do know that sleep, in its purest form, requires full trust. So if she prefers to sleep on the sofa in the living room, that's fine.