Best suggestion I can offer is invest in a crate.
I have 2 poodles that sleep on the bed with me and some nights they become a bit of a pain so they go in crates.
I would have been happy to train them to stay in a bed but every attempt failed, I would send them to their baskets and they would happily go to sleep, then in the middle of the night I would wake up with a nose poking my eyeball.
Crate training can take a bit of time and you will have maybe 3-4 nights of crying but the end result is well worth it.
Mine get a special treat when they sleep in their crates (liver snacks) so they actually race to get in there.
Put a blanket over the crate as well so they feel more secure and will be more likely to go to sleep (and even sleep in later than usual

)