I don't always know where they sleep.
Sam: on his condo, on the office couch, behind the living room couch, in his basket, on the radiator below the living room window, on the armchair, in my closet on a blanket in the back corner, beside me on the bed. He used to sleep between my feet, but since Bailey sometimes sleeps there, he's moved to curl up beside my shoulder.
Bailey: at the foot of my bed, in her basket in the dining room, on a pizza box under the coffee table, on the arm of the living room couch, on a spare chair that I keep in the dining room, under the dining room table, in a corner in the hallway.
Notice, they each have specific spots, and one never sleeps in the other's places. Except for Bailey who finally got the nerve to jump on the foot of my bed and displaced Sam.