My poor little peanut sleeps with us every night in our very high bed and whenever he has to go to the bathroom in the middle of the night, he runs around our bed to wake us up and we take him out. I woke up to him running around the bed at 3:00am the other night (not that that is unusual) only to find he had already went poo in the bed. But it was more like he had diarrhea and couldn't hold it any longer. He was so embarrassed and as soon as I put him down on the floor he ran to his little cave/doggie bed we have hidden under our bed.
Now I know he didn't go to the bathroom on our bed on purpose, it's his bed too and he is typically a very very good little dog. I wasn't mad at him in anyway, I felt more sad for him. Anyway, I realized as I was waking up James, stripping the linens off the bed and scrubbing out the mess that this will sort of be what it is like once little Chloe is here. We will have to wake up at 3:00 in the morning to change diapers or any other little messes that happen and make sure we take care of everything in our very tired state of mind.
I know how annoying it may sound, but I actually didn't mind it at all, mainly because it was our little pup who we love very much and I am sure I will feel the same way once our baby is here (at least I hope so).