Do your dogs have beds in other rooms and know the command "on your bed"? That is how I got mine out of my bed. I put towels on the floor and told them "on their beds" and they laid on the towels. When they get to the towel (or you can use a real dog bed) throw treats at them so its a good place to be. It takes a few nights, but it works.
The other thing that some one else suggested, is that mine know that they arent allowed on the bed unless I invite them. So, if they are not allowed on the bed, you could provide them a good place to be - the towel, or you can use the crates with the doors open.
Just an idea