My tummy is usually sore when I wake up?

I have taken to sleeping on my sides, I usually wake up on my sides or back. I was always sleeping on my stomach before but I haven't in a while. So why am I waking up with a sore or maybe tender belly? I am 23 weeks tomorrow. I have also woken up to having to pee a lot more, last night though as I was peeing one of my sides hurt and didn't stop hurting til I laid in bed for a bit. Now is it normal to have like a sore belly? If not, I think maybe my dogs have been jumping on me while I am sleeping, would that hurt the baby or me at all? Usually I wake up when they do it because I have to pee from the pressure or w/e, but I haven't waken up in about a week from them doing so there must be another reason. Suggestions?