Rocky very rarely sleeps on the bed with us, he usually goes to his crate and we just leave the door open.
Daisy used to ALWAYS sleep with us. She's pretty good about sleeping on the bottom part of the bed all curled up, so it wasn't too bad. Then one day out of the blue she jumped on the bed to go to sleep and peed! She's housebroken and wasn't sick, but we never figured out why she did it. Anyway, after that we decided it was time for her to have her own bed to sleep in. The next few nights whenever she would jump on the bed, we'd simply pick her up and put her in her own bed. It only took a few nights before she finally settled in. She now LOVES her bed and I'll often find her in there, especially if I'm putting clothes away in the closet or taking a shower/getting ready to go somewhere.
Every now and then she'll sleep with us still (we figured the accident was probably a fluke), but she really does like her bed. And Rocky loves his crate, it's got a huge comforter in it.
If you stick with encouraging, positive experiences, I bet she'll take to her bed in no time. Good luck!