Decide in advance where your poodle will sleep. The precedent you set on the very first night is an important one. If your poodle puppy whines in the night out of loneliness — which he probably will, since he'll doubtless be missing his mom and littermates — and you bring him into your bed that first night to comfort him, he's going to expect to sleep in comfort with you from that moment on. As long as you don't mind the company, and you don't let leadership issues with your poodle develop as he grows up, that's just fine. You might want to think about the implications of having a yet-to-be-housetrained puppy in your bed, however!

At the beginning, you'd be wise to consider crating him at night with the crate right next to your bed. He'll have your comforting smell nearby, and you can put your fingers through the grid on the door while you lie in bed. While you can always invite him into your bed in the future, keep in mind that it's just very hard to uninvite him.