Don’t feel bad. We adapt to animals in our bed, they adapt to our sleep habits. Like PR said, if it really bothered the dog that much, he would get down. You think all dogs in a sleepy dog pile are completely still while they sleep? Have you seen your dog sleep by himself? Many dogs will kick, twitch, thump their tails, yip, and whine in their sleep. If the other dogs are bothered, they move. Mostly, they don’t. They just keep on sleeping while the others have their doggy dreams.
My pup sleeps between my husband and I, and he stays there, no matter what we do. It’s not like I’m waking up, looking my dog dead in the eye, and kick him! He knows I’m asleep, my husband is asleep, and if he was offended that much, he wouldn’t keep coming up every night and sleep with us. Your dog probably just takes it; it’s totally natural to him, even your fits and kicking and throwing your leg over him. He’s used to it. It’s ok, don’t feel bad.