I have been fortunate to have many animals in my life. Many of them used to sleep in the bed with me.

Most cats at once = 3
Most dogs at once = 3
Most rats at once = 2
Most parrots at once = 1
Most cockateils at once = 1

Most total animals sleeping on my bed at once = 5
(2 dogs, 1 cat, 2 humans)

Except for the rats chewing on my fingernails while I was sleeping and the cockatiel nibbling on my ear, all animals were at least as enjoyable as any humans.