Thanks for the additional information. I really appreciate it.
Let's tackle each problem individually....first, the barking.....
As I'm sure you already know, yelling at the dog to be quiet won't work because dogs who are already barking, just interpret our yelling as an attempt to join the conversation (for example, if the dog is barking at the mailman, she's saying, "Hey! Owner! Come see who's outside!! Is this a friend? Is it an enemy?? What should I be doing right now?? Oh, you're barking loud too, so I should probably keep barking!!!"). Any yelling we do can accidentally encourage them to keep barking.
We're going to need to train her to act differently when she's barking.
When your girl is barking, you need to ignore her. Wait for her to be quiet, and after a few seconds of silence, start using a key-work like "hush" and then giving her a treat. Make sure you do this immediately...timing is super important, but make sure you don't give her a treat until she's been silent for a few seconds. Try thinking like your dog...would you rather keep making noise, or be quiet and get a yummy treat?
Do this training several times daily until your dog has figured out that the key word means it's time to be quiet, and that being silent brings treats, but that making noise doesn't get him anything. Over time, you're going to make the time between when she's barking and his quiet longer and longer. After a few weeks of training, you should be able to use the key word when she's actually barking and then giving her the reward when she stops.
It's important to remember to not repeat the key word over and over, since this can actually encourage her to keep barking rather than being quiet.
I also like using a back-up plan: diversion. Instead of using the 'hush' cue when she's barking, you can call her over to you and ask her to perform a desired trick like sitting or fetching a toy. Obviously, you don't want her to act like a mute if someone were to be bothering your house...it's good that she knows how to bark...but by making sure to reward her being quiet, rather than her barking, you'll end up with a better behaved dog, and less stress for you worrying about her incessant noise making.
You could also consider clicker training her to break this habit. This involves buying a 'clicker' which has a little metal plate in it. You press the plate and the thing clicks, then you give the dog a treat immediately. Soon, the dog learns that the click brings a treat and will usually drop whatever they're doing in order to come get the treat. You can see more about clicker training here:
As for the territorial guarding of you on the bed....that one is reasonably easy to fix....since she's unable to get on the bed without the use of the steps...simply remove the steps.
In the wild, the top dogs get the absolute best of everything. They get the best spots to sleep, the highest position in the den. So by allowing her up on the bed with you, you're accidentally sending the message that she's just as high in the pack standings as you and your husband are. By not allowing her on the bed (or any furniture, for that matter), you'll be sending the message that you and your hubby are top dogs and can be anywhere you please.
I hope this helps.