No.
I am lucky in that my dog prefers to lay on the cold floor and shows little interest on laying on the furniture, so it is not a problem for either of us.
I used to have a dog that was allowed to sleep on the sofa and I found it a nightmare, the hair and dirt was nasty and he resented giving up his "bed" when we had visitors and not enough seats.
I much prefer our current situation and if I occasionally want a sofa cuddle with him, I invite him up (he often turns me down thought

).