Do pets know they are your favorite?

Tony, my cat, knew I liked him better than his brother.  Normally, I don't like the cats sleeping in my bed especially at night because I toss and turn.  But Tony would sleep on the floor or the closet until he was sure I was asleep before hoping into bed.  I would normally kick his brother out but Tony was smart and found a sweet spot where I didn't kick or roll over too.  So some nights he would sleep in bed with me and know he wouldn't get kicked out like his brother would.  Before you get made at me, his brother was the type to sleep on your face and suffocated you.