I don't think my Dh would take too kindly to being asked to leave the bed, either

Depending on the time of night (or morning) I either put her on my side, in the crook of my arm like Ryatha, or between us with the doona pushed way down or all the doona on DH. I have her level roughly with my armpit so the pillow thing isn't such an issue.

It is hard though & one of the reasons we don't do it every night, I don't sleep as well because I am so aware of her.
If I had another bed for DH I would do it much more