1. First, acquire a very, very very very large bed. The breadth of the bed should be akin to a broad savannah, such as where the lions roam.
2. Divide the bed into as many people and/or animals as will be sleeping in it. Preferably, divide these sections with something that a dog cannot knock over, when the dog inevitably turns over in the night with a giant sleepy sigh.
3. Get into your section of the bed. Let the dog get into his section. Drape a drapery across the dog, if that's how you roll. Adjust the covers. Turn out the lights and drift into a blissful, blissful slumber.
4. If you have a smaller bed, you are screwed.
5. Wait: if you have a smaller bed, you must not allow your tender and sentimental heart to be stirred by the sweet sight of a sleeping dog.
6. If, when you gently call the dog's name to rouse him from his evening rest, to entice him to another all-night sleep location, if at that time he opens one eye in bewilderment, as if to say, what's that now? but I was sound asleep! do not be turned from your rightful path.
7. You may give the dog another five minutes. Ten minutes tops. In fact, as you plan this whole sequence of events, take the "first a warning, then a five-to-ten minute wait" factor into account, so your own slumber will not be delayed.
8. After five minutes, ten minutes tops, speak to the dog in a firm but gentle voice. Tell him whatever lets you feel okay about yourself, but say it and get the dog off the bed, out of the room, and moving on to his new sleep situation.
9. Don't give up, now. Sure, he looks cute there all nestled into the bed, like he belongs there with the pack, you, the alpha, and him, the doggy beta. Just think of the middle of the night when he will be immovable and you will be awake, plotting how to get just six inches more of the covers and scheming about how to turn over without losing all the covers. Keep that thought uppermost in your mind as you make that dog get off the bed and leave the room.
10. No, he can't stay for just a little while longer. Just a little while longer? No, he cannot.
11. Is he out? Good for you. It shows strength of character and resolve. You are the boss of that bed and of the sleeping you do there. Now settle in, finish the crossword, turn out the light, and take a deep, calming breath of the cooling air in the room and the almost-disappeared redolence of a dog who is now sleeping in his proper place, i.e. and to wit: not with you.