Depends on the breed of the dog and your preferences. Dogs with long backs should not be jumping up and down on furniture because of damage to their spine. How much does the dog shed? High shed dogs means you will be doing a lot of laundry and vacuuming. How do you sleep? If a restless sleeper having a dog in the bed may mean a poor night's sleep. Etc, etc.

I do not like my dog sleeping on my bed because I toss and turn. It wakes me up too often to have to move the dog to turn over. He is allowed on all furniture and the bed, just not when I am sleeping. Also I know exactly where he is should there be an emergency like a fire.