@inneed1012 Yes, he does. He also has free access to furniture without needing me to tell him he can go on.
You can set boundaries still by teaching him "Up" and "Down" as commands (even if your dog has free access at all times to those places) and make sure he understands down means going off whatever he's on. My dog is special in that regard, as he keeps forgetting his commands, probably due to the stress outside. But he comes down when I call him. My dog is reactive and in the beginning he didn't sleep in my bed, as I was worried I'd hurt him as I turn a lot, but it didn't lessen his reactivity. After some time I started to allow him on my bed, he even has his own staircase!
If there are no issues that you can link back to being in bed with the owner caused by either of those, then there's nothing to worry and the total rule of "no dogs in bed ever" is bullshit when it comes to the extreme of never ever allowed. It's nuanced. A blanket statement like this doesn't help people. Why? Because as above, my dog is reactive and the intensity doesn't change when it comes to where he sleeps.
In some cases, yes, it is possible that a dogs negative behaviour can be fueled more if they're allowed on furniture of any kind without commands and boundaries. But it's case by case basis and has to analyzed this way, too, because sometimes it could be the dog is territorial over the bed or the owner and/or resource guard the bed or the owner(s). Sometimes it can cause a dogs general anxiety to worsen even.
But it all depends on the case itself then. My dog is reactive and it makes no difference if he sleeps in my bed. For others, it might make a difference. A blanket statement like the trainer made doesn't work and apply to every dog on earth.
I do suggest working on "Up" and "Down" as general commands however.