@Laura5047 how do you KNOW, and I mean really KNOW that the second bed is clean and ready for guests if you've left it out and made up while other people were there??
You really have to get quite specific about what will and won't be available at what price point if you're going to be upset about guests using what you've left out for them to use.
One middle-ground solution is to make up the bed you think they need, leave a simple cover on the other and then bedding somewhere available if they just really need to use the second bed. That would discourage bed hopping but wouldn't leave someone stranded if they really needed to sleep in two beds. Or ask ahead of time: "we typically make up one bed per each 2 guests, does that work for you?" or "it helps us plan our turnovers, how many beds would you like us to prepare for you?"
There are solutions and I'd rather do just about anything rather than be silently annoyed.