We no longer have cats in the house due to my second hubby's allergies, but I used to let my cat sleep with me. I miss having a cat inside to some extent, but I do not miss the hair all over. (My cat was a long haired tabby and she would shed constantly.) If she thought it was time for us to wake up she would jump up on the headboard and knock stuff onto the bed. if there was nothing to knock over she would walk back and forth and meow. As for sleeping, she would lay on either mine or my ex's feet; it's amazing how a 10 pound cat can feel like 20 pounds when they're asleep.
She is no longer with us as she was almost 19 years old when she got ill and had to be put to sleep, but she is the only cat I had that was so spoiled. I had her over half of my life and it was a very hard decision to make, but I couldn't stand to see her suffer.