I was in the same camp, but I had to add one more step. Before dogs: “no dogs on the furniture”. After Max and Lucy figured out how great it was to sleep on me I surrendered, bought furniture covers, and loved it. Then, my wife reminded me about guests and that the dogs wouldn’t know the difference so we returned to “no dogs on the furniture”. Took about three weeks of consistent training and rewarding for them to stop any couch incursions.
However, sometimes Max had this idea in his head that as long as no part of his body actually ‘touched‘ the couch he might be ok. It was the most hilarious thing to watch him contort and try to just put his paws on me enough to be “not on the couch, Dad”, but still lay the front half of his body on my lap.
Now I just join them on the floor. Guess I’m trained too.