If semen touches clothes or bed can we sleep on it or must it be changed?

Praise be to Allah, the Lord of the World; and may His blessings and peace be upon our Prophet Muhammad and upon all his Family and Companions.

One is permitted to sleep on bed or with clothes on which there is some semen because it is pure. It is advisable to wash it if it is still wet or to rub it if it is dry, since people regard it as filthy like mucus, which a Muslim is advised to wipe.
Allah knows best.