When would you stop letting them sleep with you?

Ok so me and the hubby are living with his dad and step mom since we just recently got kicked out of our home. They have 3 dogs the oldest knows manners and respects my boundaries and doesn’t put weight on my stomach the youngest is a small chihuahua so he’s not a problem

but this big old cuddle bug is still learning.

If we let one dog sleep with us than all dogs have to it just doesn’t seem fair. Well this big boy gets jealous and territorial over me with the small dog and has accidentally stomped on my stomach more than once and it worries me.... when would you stop letting the dogs stop sleep with you? I’m currently 19weeks