Ha! Our dogs are inside and sleep on our bed, too! This question was spurred by a discussion I had with my youngest son. He insists that most dogs should rarely spend time indoors, eventhough he has been raised with dogs who are allowed inside.
All need to be taught and learned in elementary school. By the time students are in high school, these skills are reinforced and built upon. Trying to begin teaching these skills in high school is too late.
Certainly can't share my opinion based on experience.