Maya has slept in my bed since she was about 10 weeks old, and i've always allowed her on the furniture. As long as she will get off when I tell her, and does as she's told with other things I dont see a problem with it Maya has certainly never tried to push things with me, she is always very obedient when I tell her to do something. As long as she is behaving i dont see why she shouldnt enjoy the luxuries of life
BUT, i do agree that if you dont really want your pup in the bed or on the furniture, dont allow it even once. As soon as Maya was allowed to sleep in bed once she assumed thats where she slept and used to take herself up to bed