I wrote "different for different dogs". When I lived in PA, all dogs on all furniture all the time, basically. It was the only way to stay warm and I had shitty second hand furniture.
Now that we cohabitate and my husband's super nice red couch came with us, no dogs on the red couch ever except Fox/Bruce (the Pom). They are not allowed in beds, but they have their own couch in the front room and a futon upstairs. Being as they like to be near us, they are virtually never on the furniture they're allowed on - they choose dog beds/the floor near us.
Daisy is special and allowed to do anything. I used to have a sheet on top of our bed that she could lay on but she started deciding she'd rather be on her orthopedic bed on the floor.
Pom will choose the floor at night. So to recap, basically, we have no dogs on any furniture ever, except the Pomeranian who sits on the couch if we're on the couch.