Honestly, I have more of a "Do not get OFF the furniture!" rule. At night you get on the bed and you do not get off of the bed until I get up. If they are getting antsy when I'm watching tv or reading then it's "Get on the couch, lay down and be good." When I'm cleaning and they keep getting in my way it's "Go sit on the couch/on top of the crate/stool and stay there." And if I'm cooking and they keep getting in the way it's "Go sit on this kitchen chair and don't move."
Mine usually sit on the back of couches/chairs. I do try to keep Mia off the table and the counter top because she's usually up to something bad.