Before I had a BF/DH, my past doberman would take up a little more than half the bed. A queen size bed, no less! I would wake up with dober-toes over my head or neck. He was possessive, so not all nights could he come up into bed.
Calico cat sleeps on my calves, between calves or in the corner my knees make when sleeping on my side. Tuxedo cat will sleep all over me or any random place, even snuggled up to the dog. The dog doesn't like the cat that close, but she can't do much about it. Dog sleeps up high between DH and I or by our feet. If the cats get too annoying for her, she'll go sleep on the dog steps or on the floor.
If it's not winter, then dog is on the floor, top of steps or a random step. So have to watch out for her. Cats sleep on the cat tree on the first floor or where ever else they randomly decide.
Not afraid of germs, so I'm not a neat freak about them being clean. But if they are covered in snow, rain or mud, they need to dry or clean off first.