Talking from experience if you say no bed ever and hubby says bed is ok your dog is going to get on the bed. What I did is allowed it but within reason. She has a very nice bed of her own that sits up as high and next to ours and I taught her....."YOUR BED" and of course she knew what off meant.
Then I just told her off or her bed when I wanted her off. I taught Your bed just by showing it to her and making a huge party of YOUR BED.......Stuffed Kongs, treats or whatever.
Because she had been allowed on the bed for a while I felt very unfair correcting her for being on the bed all of a sudden, plus I knew the better half of me(hubby) was allowing it so thought it to be unfair to her to get in trouble over it.
I still to this day give her the off and your bed command several times a day to make sure she continues to obey.......
If she hesitates too much, she loses any bed privileges for weeks to come. I call it boot camp refresher time.......
By the way she prefers her bed! She seldom gets on ours unless called up.......