I built a bed and placed it in my house so that I can stand on either side of the bed (see attached screenshot).
Note: For clarity - directions in the commentary below are specifically related to the image attached.
Even though there is the option to sleep in the bed or pick it up, I cannot actually sleep in the bed unless I stand on the left-hand side of it. If I stand on the right, as shown in the picture, the option is there but the interaction doesn’t work.