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I have a pet that often sleeps next to my legs in my bed.

How can I say it properly in English? Is there a neat idiom for it? I want to sound natural and I don't think the above expression is natural.

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4  
I would say the dog sleeps "at my feet" – Ron Jensen Feb 13 at 20:24
    
Are you saying your pet is in contact with your legs when sleeping? What kind of pet is it? – Peter Feb 14 at 5:47
    
It sometimes is with contact with my legs, sometimes it is 15 cm next to my legs. It's a cat. – user2738748 Feb 14 at 8:54
up vote 2 down vote accepted

At my feet

can mean literally next to one's feet, but also below one's waist

Around my legs

means on, next to, under, in the general vicinity of your legs.

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Related: at the foot of the bed is roughly equivalent to at my feet. – keshlam Feb 14 at 1:49

Consider this portion of Rudyard Kipling's poem:

Pussy will rub my knees with her head
Pretending she loves me hard;
But the very minute I go to my bed
Pussy runs out in the yard,
And there she stays till the morning-light;
So I know it is only pretend;
But Binkie, he snores at my feet all night,
And he is my Firstest Friend!

I hope this answers your question. You can find the complete poem here.

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Thank you american slang – Inglish Mar 9 at 17:19

My cat often cuddles with me in bed. Her favorite spot is to spoon behind my kneecaps while I'm laying lying on my side. I don't think there's a name for that spot you make behind them, when you flex your knees.

Cuddles up to my [legs] - and spoons [them/it].

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1  
I think, or hope, you mean lying on your side. – peterG Feb 14 at 4:18
    
I think I hope I meant the other one actually ;) – Mazura Feb 14 at 4:24

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