Sometimes yes, sometimes no. In general, we don’t mind the cats sleeping with us but…
1) Every once in a while, I can’t stand the extra fur floating around getting in my nose when I’m trying to sleep.
2) We have a window unit air conditioner in our bedroom, and they tend to push the door wide open, letting all the cold out.
3) Then there’s a little problem my kitten is having with liking to pee on our clothes when they’re in a pile on the floor (dirty) or in a laundry basket (clean, folded clothes!) Ugh.
Most of the time, we shut the bedroom door because of those things. When I sleep on the couch, though, I’ve got one on my shoulder/arm (I sleep on my side, she sleeps on top of me), and often, another at my feet. When we leave the bedroom door open, both of them end up in bed with us.