When we lived in Eau Claire we had 2 beautifully appointed guest rooms and a guest bath and you guessed it never any company. Now we are in a small apartment and we do have guests often. For Christmas Matt got me this Simmons Beautyrest Extraordinaire air bed. They have one and we slept on it and it was almost no different than my bed at home.
It is pricey but if you have guests and you don't have a guest room this will allow them to sleep in comfort. And it comes with the carrying bag so you can toss it in the trunk when you go visit people.