dog pees in our bed

okay, this is complicated and not our only behavioral issue with our adopted, neutered schizo Bichon Frisi. We’ve had him nearly a year and we believe he is nearly two years old. Simply, we love him and he loves us. he’s rarely alone for more than 3 hours. He is not potty trained, though he’s pretty good if he’s on a schedule. Weather and our schedules can make that hard, but, honestly, sometimes he comes in from outside and the little nutter goes pee right away. We believe he knows not to because he’s impossible to catch in the act. If we walk into room right after he’s gone pee (or poop), dude runs out! This all stinks and not the issue today.

He occasionally pisses on the bed we all, including him, sleep on. No other dog. He seems to choose to piss where our heads go—sometimes my wife and sometimes me (if it was a sport, it’s 2 to 1 in my favor). You’re thinking, “don’t let him in your bed, dummy.” Well, he seems to pee on it during the day when we forget to close the door. Today, we were all home and doing stuff when he did it, and he’s gotten plenty of attention. But also, my wife thinks because he doesn’t pee in the bed when we’re sleeping that means it’s not the issue. I believe if he didn’t think it was his bed, he wouldn’t be a focus. All three of us which to sleep together. Either way, he is getting uninvited to sleep with us; we’ll see if my wife sticks to it. 😬😬😬He does have a kennel he likes. I guess what I am asking is what is the best guess for why he is peeing on our bed? From that, we might be able to further address the issue.

Vet says he’s physically fine and its behavioral.

(For reference, it has happened three times. The first time, after living with us half a year, we chocked up to a one-off. Second time, months later, we went dammit, what is up? Third time, a week later, we know it’s like a super obvious behavioral issue we haven’t addressed.)