Contact side of bed, sit, rotate 90 degrees while raising legs, lie back.
Move into a house with a larger bedroom---which means the bed is father away than you think it is---and you will never skip the "contact the side of bed" part of the protocol.
I crawl into bed because I'm a dork that still sleeps in a loft bed. It sure saves a lot of floor space and it has a desk and bookcase underneath so that's cool.
I used to have a huge king size bed but it took a ridiculous amount of space so I eventually sold it and bought something more practical, even if it is kind of dorky.