Yes it's okay for dogs to sleep with humans.
Dogs are great animals and most dogs love to sleep with their humans and there's nothing wrong with allowing your dog in your bed to sleep with you.
I sleep with my large dog all the time and he sleeps between me and my husband and he's been sleeping with us since I got him as a puppy.
He's 5 years old now and prefers to sleep with me and my husband and he keeps us warm and I love having him sleep between us.
Sometimes he like to sleep at our feet and other times he likes to sleep between us.
Even cats can sleep with humans as I also have a cat that loves to sleep with us and the dog as well and the dog gets along great with the cat.