"Place" command for time in bed wuth boyfriend and me?

Hello all,

This is a condensed version of a post I recently deleted due to length and lack of response. In January 2023, I adopted a (then 6 y.o., now 7 y 2 m) beagle/coonhound mix named Larry. In November 2023, I started dating my current boyfriend, "J," and when he spends the
night, he doesn't mind the IDEA of Larry sleeping with us, but he does have sensory issues with his feet being touched. Larry often winds up sleeping near J's feet. I personally am sensory seeking and would welcome Larry sleeping right up against me. If I started setting up a blanket on my side of the bed, could I teach Larry to "place" there when J stayed overnight? Larry has cancer, so I really want to find a compromise that both makes J happy and allows me to sleep with my puppy while he's still alive. Tysm in advance!
 

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