Do you feel that our kitties miss us when we're gone?

I was gone for the weekend and left my wee Frankie at home alone. He had lots of fresh litter, water, and plenty of food. My place was cozy and warm.

Upon my return, I was greeted at the door by a super affectionate kitty. Rubbing, purring (so much so that he was drooling), a few head butts, and he bit my chin.

Usually, he sleeps at the end of my bed, but, last night, he was nuzzled under my arm pit. This morning, when I got up, he followed me everywhere (even into the bathroom when I was having a shower and he hates going in there because of the running water). I ate my breakfast and he was up on my lap purring away. I picked him up, turned him over and held him like a baby (I swear, I am not a crazy cat lady ;-)), and he stayed there, motionless for a good 3 minutes, purring loudly/eyes closed.

Do they miss us?