My dog is only allowed on the furniture or my bed on invite (and it's not very often LOL) I trained her from the time I brought her home. It was actually pretty easy since as a puppy she couldn't get up on either one of them without help. And I never helped her.
Now, when I invite her, she's on either of them for about 10 minutes, then she's done, back on her bed! Or the floor (which is usually much cooler!)