[SWHouston]

When they're young like Lexi, how can you not want to hold and be with them 24/7 ! I've never agreeded with the "tether" approach... actually, just the opposite.

They don't know they can "move" on their own for some reason, and I try to encourage that, where they know they can move into an accepted area for potty purposes, investigations, closeness, whatever. But, you have to give them access, and encouragement.

I LOVE to have mine sleep with me, but, a ramp/stair up to/down from the bed is very important for their safety and "independence". I never pick them up to put/bring them up in the bed with me, but, make them use the stairs for that, and decent too...every time ! That IMHO trains them that they can do something about whatever they are complaining about, instead of crying and relying on me to resolve the issue for them.

So, if they want to be close to you, let them, AND, give them a way to accomplish that.
If they want to potty, same thing, provide an acceptable area, and a clear route to it.
One thing you shouldn't do, is intervene in their need, by picking them up and "taking" them wherever. They need to know they can get there on their own. Let them follow you to the paper/potty area, waive your hand at the top of the stairs to the bed, and make them use those resources consistently. I think pretty soon, that you're going to be very pleased that they understand there's a way, and use it.