Well of course he likes the bed better

What boxer doesn't?
Ours don't sleep in the bed on a regular basis, they have dog beds right next to ours. Really our bed isn't big enough to sleep all four of us comfortably. The usual routine though is that when BF gets up for his shower in the morning the dogs jump in bed with me. Boxer kisses and wiggling nubs are the best alarm clock

And whenever BF is out of town, or he comes to bed after I've already laid down, the dogs will be in the bed with me.
When we first brought Caney home as a pup, we made the mistake of letting her sleep in between us the first two nights!! THEN we started crating her -- big mistake! It probably would have saved us weeks of crying during the night if we hadn't spoiled her first off.
I would say, if you are going to make it a permanent arrangement, go ahead and let him sleep with you. As long as it doesn't mess up his housebreaking I see nothing wrong with it. But if he's going to get too big for the bed eventually, he'll be very upset once he's banished to the floor after months of getting to cuddle with mom.