Maddie "dances" arround and then lets out a playfull growl sound she keeps the little dance up usually till I reach for her.
Copper is really funny, he turns his back to me at a slight angle so he is in the perfect position for me to lift him and if i ask him if he wants up he usually lets out some sort of noise or snezzes

he even helps me out by hopping up at the same time I lift. if the turning his back doesn't work then he will resort to pawing at my leg