Here is the thing - we don't like to be interupted when we rest but we are humans & it's annoying to us. Dogs start to growl when they're resting & we bother them because they don't want to be interupted - they feel they are alpha and are demanding you leave them alone. The growling is their warning & more than likely will progress with time to nipping/biting if this isn't corrected and they are not allowed to be alpha. This is exactly how Chihuahuas get such a bad rap because some people treat their small dogs like babies rather than what they are - dogs. If your Chihuahua was a large dog & it started growling when you touched it when it was sleeping - I'm guessing you (this is a general you) would take it a little more seriously. I know I would! LOL
I am all for spoiling my Chi's but it is so so important to set boundaries for them & make sure they know we are "alpha". A couple of my pups growled as pups. Matilda went through a phase at growling at my daughters when they picked her up - sometimes when resting. Had we decided to make my daughters back down & stop picking her up I'm sure she'd still be doing it & maybe even start biting when they, even accidentally, bumped her while sleeping. I absolutely was not going to have a dog that had any aggressive tendencies that could effect my daughters. Instead I told my girls to sit down with her immidiately when it happened in her lap & just hold her on her side or back (like a baby) for a few seconds & growl back. She never squirmed to get up & would just lick her lips (which is sign of submission). After a few weeks of doing this each time she'd growl - it stopped & it's been well over a year since she last growled at them. They treat her like a doll & she is just as content as can be.
I also 100% agree with not allowing them to sleep in bed with any aggressive tendencies (which growling IS aggression which can very easily progress with out intervention). I don't know much about NILIF training but I whole heartedly agree that our pups need to work for things like food, being let off their leash (they all have to sit & wait for me to take off everyones leashes & harnesses after a walk), etc. I don't do it for furniture use but I knowinly allowed them that. But they don't have any dominance issues either.
I'd personally start correcting the behavior. I always worry about letting stuff like that go & then possibly someone (a child maybe?) accidentally touching them & getting bitten one day. Because growling can & most likely, will progress to nipping if you are backing off when they give the warning. Just my 2cents.