Our cocker sleeps with us every night. He starts out on the bed for some cuddles, then he moves to his own blankie on the floor. It works for us!

I must agree with letting your dog roam the house 'til he finds a comfortable place to sleep. Dogs have their own personality, and if they choose to sleep in the kitchen to be close to food i find it ok. But personally, i like keeping my babies close, so the bedroom is the best choice.