Time for a big bed

It's time. The hubs and I are considering our next adult purchase. We need a king-sized bed. I've been doing some research and most sites say that people taller than 6' (we are both just under 6') need a king-sized bed. (For those taller than 6'6"- you need a california king, which is longer, but not as wide)

In our current set up, we both feel like we are sleeping on the edge of the bed because our 27lb dog gets the middle and likes to kick at us. I know one solution would be to kick him out of the bed, but I enjoy his warmth. His core temperature is something like 101. He's my little charcoal briquette.

So if anyone has any mattress-buying advice, let us know!