Helen, I understand clearly what you mean.
My "Freek" comes running to me as soon as I open the garden gate, revolves around my legs as he gently rubbed his head against it until we are inside. If he mews for his dinner, I ask: Do I get a hug? And he does it again ... ;o)
His bed (a club chair) is in my bedroom. When we go to sleep I cal him to say it's time for bed and then he runs up the stairs and go straight to his seat.