Bo loves to sleep with us, and has lately taken to sleeping on top of my husband's feet.....not beside them, but on top of them. She won't move, either! The only time Bo won't sleep on our bed is when it's hot in the summertime. Then she sleeps on the window perch next to the bed, and if the nighttime critters are active, she is too. This can sometimes mean a restless night for my husband, since he is a light sleeper and wakes up every time Bo gets on or off the bed.
Bo also loves to nap between my husband's outstretched legs when he is relaxing in the recliner. Sometimes she will put her head on his ankle, and snore!
Cats do indeed make themselves comfortable whenever and wherever they want, despite us.