Why does Kyle sleep in a tube while Jesse can sleep in a bed?

From what I understood, Jessi can sleep in a bed- she slept with Kyle in 'The Tell Tale Heart (3x08), on the bed. But like how Jessi told Kyle, when they first met, is that 'the tub was comfortable.' I'm guessing more than likely Kyle CAN sleep in a bed just like Jessi- Jessi slept in a bed when she lived with Taylor. But he just prefers to sleep in the tub because it reminds him of living in the chamber.

Because Jessie was given false memories of a life, normal (mostly) behaviors. Kyle just had instinct to go on. He KNEW the tub felt safe. Jessie was programmed to know that sleeping in a bed was normal.