Well, I was raised with both cats and dogs, and love them both, but I have to choose cats. Dogs are more easily trained, more obedient, and will love you no matter how you treat them. Cats, on the other hand, are more independent. You have to accept them on their terms. The trust of a cat means more, because it has to be earned. I prefer the independence.
Two of my three cats will also approach me and roll over on their backs. The two are litter mates, rescued from a litter of feral kittens. It's taken me years to get them to accept other people, though they have always accepted me. My third cat is a different story. While she understands that she is not the absolute ruler of the household, it really pisses her off.
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Nid yw'r hoff o lyfr yn fyr o gyfaill.