Should I let my dog sleep with me?

My dog is moving in with me after staying with my parents. He’s used to sleeping in a crate but has slept in my bed a couple of times previously. When he moves here I won’t have space to have a crate up all the time, so he won’t be sleeping in one. I’m wondering if I should allow him to sleep on my bed or if I should make him sleep on his dog bed. I don’t think it would cause any issues at the moment letting him sleep in my bed, but I worry about issues in the future, if I get a partner and then there may not be room for my dog on the bed. What have been your experiences? I want to set boundaries early on so don’t want to have a plan in place before he arrives.