Look, while I understand that it's easy to have issues about this sort of thing, honestly, I don't think it's disrespectful. Disrespecting you would be him forcing himself on you, or forcing you to commit acts that distress you. Maybe he has a fantasy of you catching him and things going further. Have you spoken to him at all about this? If you open up and just ask him why he does it, the answer might surprise you. If you really can't come to terms with it, then stop sleeping in bed with him, or stop having sleepovers. I don't know what else to suggest, other than a good heart to heart about the issue.
IIN that I caught my boyfriend masterbating while in bed with me sleep
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Look, while I understand that it's easy to have issues about this sort of thing, honestly, I don't think it's disrespectful. Disrespecting you would be him forcing himself on you, or forcing you to commit acts that distress you. Maybe he has a fantasy of you catching him and things going further. Have you spoken to him at all about this? If you open up and just ask him why he does it, the answer might surprise you. If you really can't come to terms with it, then stop sleeping in bed with him, or stop having sleepovers. I don't know what else to suggest, other than a good heart to heart about the issue.