I've had six cats in my life, starting with Rusty when I was born, up through Luna, one of the two I have now. As they both start to get into winter lazy hibernation mode, always crashing on me or near me, I started to think a little about the social activities of cats.
They can be real bastards at times. Luna barfs on the carpet and cries for no apparent reason, Cosmo spontaneously bites my ankles. I've been known to freak out and chase them around when they do something that irritates me. Likewise, I'm sure they get annoyed with me, briefly, when I don't feed them when they'd like or I yell at them for something.
At the end of the day though, the cats love you unconditionally, and you love them back. There are no strings attached to the relationship. They do something for you, you do something for them, and you really don't expect anything in return. You're able to overlook each other's issues and just enjoy each others' company and love.
We sure could learn a lot from our cats.