How many Chihuahuas do you have that it bothers your husband so much? If it really bothers him than I would say to buy the dogs their own beds and keep them on your side so they are still close to you. If you really like having them up in bed with you than I would say to keep them on the opposite side of you so that they are not "right" next to your husband that way they are not separating you and your husband. I don't see anything wrong with pets sleeping in human beds, that's an owners choice. The thing I can't stand is cats on kitchen counters...GROSS! Just remember that you don't want to push your hubby out on the couch so think of his feelings and try to come to a happy medium!
Good Luck!