My concern is that a pup that is always allowed to sleep on someone's lap could easily end up not able to settle anywhere on his own, whether in a crate or on a bed in the kitchen or wherever. If the intention is to have the pup/dog with you 24/7, then that's fine, but if you're wanting the pup to be able to sleep on his own, or to be able to go out and leave him sometimes, then they need to be encouraged and enabled to settle on their own sometimes.