OK, think about this before acting, maybe? If your H is someone who will react physically to finding you in your bed and refusing to leave.. then that might not be the approach you wanna take. What you WANT is for him to welcome you back into the bed. I mean... sleeping beside him and knowing your an unwanted visitor is accomplishing what for the M? The appearance of things being OK? Then after that goes on and he gets "credit" for allowing you in the bed (even though nothing has still changed!).. how are you going to then break free from the cycle that never ends? What if he says "Fine, I'll sleep in the guest room!" Then what? Then you'll still have the same prob with the kids seeing you sleeping separately.
Just MHO, I'd save this for the next MC session. I'd let it be known that I want to discuss this and only this issue and come to a resolution at that session. Give him a heads up.. some time to consider it. Let him know that sleeping apart is no longer an option for you. I mean, if having the bed is just the goal, then you could separate and have a bed, KWIM? I think the goal here is to be back in the bed as H and W, with a committment to work on the M from him, or you are ready to admit defeat and move on? Address the issue.. which is the M and committment to it. Am I wrong? The sleeping together is a symptom. You want in the bed AND a committment and nothing less.
Why play a game to ask for what you want and need? Especially if it turns out violent.. or if it looks like more of the same as Sat to him. Just to him we know, but still... why go do something that he's going to use as more justification for being an *ss?