In his old age, Dad allowed his favorite cat indoors. It clawed a hole through the fabric on the bottom of his box springs mattress and slept up in there on the boards.
I had a dog that slept under the bed. Until I had 2 dogs and they slept in the living room where they could keep an eye on each other and out the living room window. Also, I found that the floor under my bed was a good place for storing winter squash, at that time. The atmosphere was probably like for Linus waiting for the Great Pumpkin during the first few weeks of Autumn .