To let you know. When your petting your cat on it's side it is his/her's ticklish spot!!! The leg jumping is a sign it tickles! Just like in Humans dogs and cats are ticklish. Nothing to worry about.
The licking after you rub her is normal as well. My cat will lick right after petting. I feel kind of insulted! You may have disturbed a sensitive spot.
As for hitting the leg against your hand if you touch the cat in other spots. It is a sign that they don't like it and to leave it alone! Your lucky the claws don't come out! You might have hit another ticklish spot or flea area.
Your cat sounds like a normal cat. Whatever Normal is in a cat!