I have a little lapdog, and when he was a pup, he DID NOT want to be in my lap.
He wanted to be off on an adventure, looking for trouble.
I would stubbornly pull him into my lap, against his will, every chance I had.
Now, he's 4 y/o and most times, I find him in my lap, with no idea when he parked there.
Maybe your new bestie needs a dog bed on the floor?