Thor is like that too. He likes people, but if he's on someone else's lap when I walk into the room, he starts struggling to get to me. I have to admit, it does worry me a little bit... especially because sometimes I think it offends other people. I remember once I gave my friend Thor's leash while I went into a porta-potty, and he almost tore her arm off trying to follow me. She definitely liked him a little less after that.
I take Thor to work with me, which is a huge bonus, and I want everyone to welcome him. That was easier when he was more social, and he's also started guarding me more, which means barking at anyone who comes to my desk.
The one time it doesn't bother me: when his old owner who didn't pay attention to him is holding him and he starts crying to get to me. Funny thing is, when SHE was the owner, he was perfectly fine sitting on my lap around her.