If the kerosene heater is the non vented kind then no you should not sleep with the kerosene heater going because it produces carbon monoxide which can cause death quickly as it's a silent deadly killer.
The non vented kerosene heaters should only be used for emergency heat and should not be left on overnight because they can potentially kill you through carbon monoxide poisoning.
Not only that the non vented kerosene heater could get knocked over somehow overnight and cause a house fire which could kill you as well if you're unable to escape.
For the vented kerosene heaters those are safe to sleep with while on but not the non vented kerosene heaters.
If you need emergency heat overnight you should install a propane vented heater or natural gas vented heater to keep safe and have emergency heat without power.
Or install a wood burning stove even if you only use it for emergencies.