Darwin wouldn't have it any other way. He will not sleep next to me unless one of his pawsies is resting on my leg. I don't know if he does that to make sure I'm still there, or just likes personal contact while he sleeps.
I shouldn't find this strange, after having a cat who insisted upon stretching out on my chest and cuddling like a baby when we slept. That was my Spiral during his last 3 months of life.
So, I guess Darwin's no different.