When he jumps on, yell at him sternly, but not too loudly that he'll get startled. If it doesn't work, then gently nudge him off whenever he gets off. He might get the idea. Or, nudge him off, and when he stays off, give him a treat, and he'll get used to it.
first you can discourage your dog to sleeping on your bed, making loud noises and scaring him off every time he jumps on. Then encourage him him to sleep on his bed by making him lie down on his bed regular and trying to make him stay on at night. I this doesn't work I suggest a dog trainer or something similar
Im probably not the best person to reply as my dog has slept in bed with me since we got him 5 yrs ago, however he made the decision not to sleep in bed possibly due to feet, room etc lol xx Is your dog's bed in your bedroom? maybe putting it next to your bed will make your dog feel secure that you are close without him/her having to actually sleep in bed with you. If you do not want the dog to sleep in the room with you maybe you could move the bed out of the room a little at a time? hope this helps