I used to have this problem with Bobby. I am sure this method is not the right way, but it is the only thing that works everytime.
I give him a treat and while he is eating it I will sneak out. He has gotten to the point now where every morning he knows the routine, he sees me grab my purse and coffee so he will sit on the edge of the couch and wait for his treat. I have been doing this for about 6 months and now he will even wait to eat his treat until after I leave.
I do have to make sure that its a treat that he can't gobble up in seconds. I usually give him a chicken jerky.
Like I said, its probably not the best method but it has saved me from tearing my little guy off my leg in the mornings. And I dont feel as guilty leaving him.