Your dog is definitely the one in charge! YOU are supposed to be the boss! If you feel sorry for him and let him do whatever he wants, he'll run the house and continue to have poor manners.
If you can't sleep with him on your feet then he should not be allowed to do so. There's no reason to feel sorry for him. He can sleep just as well on the floor, in a crate, or on his own bed. INSIST he do so! If he whimpers and cries, ignore it. Otherwise he will continue manipulating you to get his way. If you ignore his crying he'll eventually stop because it won't be getting him what he wants. He's only crying because he'd rather be in your bed. He's not crying because he's hurt or in serious need of anything.
You are responsible for teaching your dog the acceptable way to behave. Right now you're teaching him that if he whimpers he can behave how ever he wants and you'll allow it.