we have to compromise
My Annie was never allowed on the beds and Never questioned it... the couch however, different story... we COULDN"T keep her off. When we adopted Hazel in November... she was allowed to sleep with her previous owners and is the type of boxer that is SLINKY and STEALTHY. She would PULL herself up during the night in a way that she was undetectable. Annie wouldn't allow Hazel up without HER being up too.
How my husband and I work thru this is we give them "allotted time frames" on the furniture and that seeems to work. ex:
when we get up in the morning... we take them out and then tell them to go lay down on the bed, during the middle of the day... they nap there, and at night (when the kids are doing homework) they go in there... but they know when we go in and tell them "off" that their time is up.
the couch, they pretty much have full rein to be on it so long as they are NOT being obtrusive.... if they are being "HOGS" we tell them off and they respect us.
They both will try to sleep on the arms of the couch to avoid tying up the cushions (it makes for quite a site). hope Allotment times help you out... it has worked VERY well in our house ... THEY STILL FEEL IN CONTROL (without actually BEING in control)