Haha Dogs and Cats have different ways of showing they love you. And Cats take more times to feel really confident about you.
We've had our cat for four years now and he never came on our laps. But in the recent month he began lying half on us. His behaviour continues to evolve. (He was already four when we got him).
I agree they do not "obey" as dogs do, but our cat answers when we call him. He likes to spend time outside, and I prefer having him inside during the night. It took time but now he comes back when I whistle (80% of the time) for him.
It's not that they do not obey, it's more that they obey when they "want" to.
I see Dogs as kids and Cats as teenagers 🤣.

What dog breeds do you have??