What do you do when your cat won't listen to you?

Sometimes I feel that cats think they are superior to humans. They have this look when you call them and they just look at you without moving at all and they have this look when they want something but as soon as you give it to them they change to a look that says "i've manipulated humans again!" But despite this I love cats so much because when they love you they ate also expressive. My cat would always sleep on my lap and would rub himself against me when he wanted to be carried.