Being young doesn't rule out bladder infections but it sounds to me like you have dogs who are maturing and are under the wrong impression as to who is running the house.
Letting them sleep in the bed puts in their minds that they are your equals or superiors. You have to change their understanding of your relationship to get back to where you can allow them on your bed rather than you sleeping in their bed. There may be some competitive marking between the two of them also. They could be urinating to say 'my bed, my person' etc.
You can start with the nothing in life is free program as mentioned above to help you reorient their ideas as to who is in charge.
Good basic obedience training helps with this too and the site listed above can help you find a trainer to work with.
This isn't a case of dogs not being housebroken its a case of them deliberately marking the area in the home that is likely the most highly scented with your odor from you spending your sleep time there. So the problem is changing their perception of who sets the rules rather than fixing any one training problem.
Make sure when you clean also that you use a deodorizing cleaner such as Nature's Miracle, Simple Solution, Odor Mute etc to ensure even a dog's sensitive nose cannot pick up the urine odor from previous markings.
And if you want them back in bed with you with out dampness you can try britches or diapers on them - then only those would get wet. Some people use diapers and cut a tail hole. Some use doggy britches with a human incontinence pad in them to catch the leaks. See britches here