There is no doubt that our cats like to touch us, to be in direct contact with us, skin-to-skin. I think the skin-to-skin aspect of the touch is important. The domestic cat likes to feel the direct contact and the warmth from us coming through our skin. It is a sign of their affection for us and a comfort to them. It is competely normal and exactly as humans behave too. We are both mammals and have a lot of similarities.
In the first photo, I am in bed and it is about 4 am in the morning. My cat has been out all night and he feels in need of a bit of comfort. I tap on my chest to signal that he can rest there. He responds and places his paws on my face: that immportant physical contact that cats love. Often my cat will stretch out his paw to touch my hand when I am in bed.
The second photo is on reddit.com. The woman had been away for a short trip:
“I left this guy for a short, two day trip. First morning back and I’m feeling the love. I think I was missed…”
When cats are friends with each other in multicat homes they will rest in contact with each other sometimes. A sign of friendship. It is obvious. It is like us. We should all respect this gentleness in their character.