Yes you can get worms from your dog when you allow the dog to sleep in the bed with you.
But you'll only get worms or other infections from the dog sleeping with you if the dog has worms and other infections.
It's not recommended to sleep with dogs or kiss the dog either because of the potential to get infected with worms but a lot of people including myself sleep with dogs and have always slept with dogs for many years and never got infected with any worms or other infection.
I personally would not worry about it but I would avoid kissing the dog especially in the mouth because you're more likely to get worms from the dog that way.
So if you want to allow your dog to sleep with you then you can safely do so but if you don't want to allow the dog to sleep with you then make the dog another bed or buy the dog a separate dog bed and teach it to sleep in that instead.