How can I get my boyfriend to realize that his dog can't sleep in the bed with us?

The dog is too big and in the way. I tried to make a compromise and have him in the bed but not between us, but now it just gives me less space and I’m essentially hanging off the bed at night. I told him the dog can’t be on the bed at all and he just moved him to the foot of the bed. I’m in need of suggestions.