My girls sleep inside as well, we have two dog beds on the ground next to our bed and they sleep there. Sometimes they wiggle their way up onto our bed, but they are big dogs and have both been crate trained so most of the time they are well behaved and stay on their beds.
We take them out for a walk at around 10.30 or right before bed, and again first thing in the morning. Both my girls are older, 6yrs and 12 years and are well into the habit of bedtime. We know that if something happens, there is a reason for it. They spend most of the day outside, and come inside whenever we are home. Our old girl wears a coat at night in winter and comes with me to work when I go at night to the vet hospital, and our younger dog has been trained to sleep with our DD1 when we have a bad night with her. So she leans on my DD's legs to help her sleep.... its a sensory thing that we have used the dog to help.
