Yes it's okay for your dog to sleep in your bed with you as long as the dog is healthy.
If the dog has any parasites or worms then avoid letting the dog sleep with you until the worms are gone or other illness in the dog is gone.
You can get sick from your dog if they have worms or other illness which can sometimes be passed on to humans.
My dog sleeps with me and it's never caused any health issues.
However when he's sick he is put in a separate room on a dog bed to sleep in.
But when he's not sick then he comes and sleeps with me or my kids.
There's nothing wrong with allowing your dog to sleep with you and people have slept with dogs for thousands of years and never gotten sick from it.
But if the dog has worms or is sick then keep the dog off your bed until they get better.