Bronze, my cat is much like your cat in some ways. She wants on my lap constantly. Sometimes I don't mind. Sometimes I want her off. I gently push her off. She rushes right back. I pick her up, and place her on the floor...repeat actions...after about 3 times of that, she does the stalk mode on me. She barely moves, and ever so slightly, gets into my lap, hoping I will not notice. If I sleep, it is the same thing. If I push her off...she comes back, and eases back next to me. My daughter's cat on the other hand, likes to lay on my ankles, and she flops down on them, like she doesn't care if it wakes me up, or not. In the winter, both the cats want to sit in my chair when I get up. It is toasty warm. I can get a glass of water, come back, there's a cat. Forgot the Kleenex, get back up, there's a cat. The old cat will get off. The younger cat rolls around on the chair, almost daring me to make her get off. Pick up that handy dandy can of compressed air (with the plastic straw in it), and point it...off she goes. I don't have to spray it. I just have to threaten to.
The dog wants to sleep with me, but I am not about to let her. I make her sleep in the crate. If I don't, she wants to lick me. She can't just lay there, and enjoy her new found freedom. Maybe one of these days she will be able to sleep out of the crate. It isn't looking promising at this point.