I have a different view of the situation: while the emotional rewards from pets are nonzero, animals are, objectively, filthy. Keeping them indoors (and in one's bed/bedroom) means that even with the best cleaning regimen, your house is perpetually dirty.

Imagine if someone who only bathed a couple times per month rolled around in your bed every day.

Many people are fine with being dirty, so there isn't a moral argument against pets here, just a personal preference, but if you shower more than three times per week then your decision to have a cat or dog in your bed and on your sofa is inconsistent.