As long as Willow has lived with me (ten years now), she has only been allowed on one couch in the cellar / TV room – and that only rarely – with me and “by invitation only”. She has the run of the upstairs all day and every day, and could easily climb onto my bed if she were so inclined while I’m at work for 8–10 hours per day. But she never does. (And I would know, because she sheds hair everywhere she goes, and I’d notice.) So she’s almost never on the furniture here.
However, in the past two winters, when I’ve lived (with Willow) at my uncle’s place while he needed company, he allowed her onto a leather couch in his living room, where he spent all of his time. It’s where she slept every night while we were there, too, and she really liked that couch.
But both times we moved back to my house, she went back to the original arrangement, and she makes her bed in more or less the same place/s on the floor all of the time.
It didn’t take any particular training to accomplish all of this, either.