Oftentimes, our dogs approach us and start laying down and sleeping on us or next to us in the weirdest sleeping positions.
Your dog feels the natural instinct to sleep close to you because he or she feels safe and secure. You also give off body heat, and your bed is both soft and comfortable.
One theory involves protection. A placement at your feet provides a strong strategic defense or at least affords the ability to notice any potential danger easily.
Sometimes, dogs choose one person over another due to familiarity and comfortability.
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A dog sprawled across the bed is also completely normal. Your dog doesn’t exactly understand the concept of space (when it comes to stuff like this), and simply decides to go for comfort.