How can I get my dogs to sleep on their own bed without hurting their feelings?

My daughter joined the Navy and left her pets in our care. Now we love them but I made a big mistake letting them sleep with us because I thought they were missing my daughter. The 85lbs one loves to put his head on my pillow and snuggle in. the little one sleeps with her head on my feet. I love them but I need more space on my queen size bed for me. My husband sleeps like a log and does not seem to mind them being there. Maybe I am just being selfish. I would like help to get them to stay on their own bed. My daughter will not be coming back for them. They are mine now.