Generally, the choice of whether or not to allow pets on beds is an individual one. Animals and people have a long history of sleeping together, after all, especially in cold weather. Most veterinarians who specialize in animal behavior agree that allowing pets on beds is not harmful, and may in fact deepen the relationship you have with your animals. Furthermore, as many cat owners know, animals deeply enjoy spending the majority of their time where they are not allowed.
Some pet owners experience sleep problems because their animals want to play at night, instead of sleeping along with their owners. If this is the case, exercising and playing with animals during the day can help to tire them out for the evening. Cats, especially, are notorious for wanting to adventure at night, and may take some time to settle down at bed time. If the problems continue, not allowing pets on beds is an option, although you may have to ban them from the bedroom as well.