Our cats are never allowed on tables, or kitchen counters, or desks. Sofas are OK. Of course, same as FIREdreamer's cats, they know when we are not looking.
They sleep at the foot of our beds, but most often only during day time. I guess they got kicked by us accidentally at night, hence learn to avoid that.
"Old age is the most unexpected of all things that can happen to a man" -- Leo Tolstoy