We have twice had the experience of neighbors’ outdoor cats, in two different places, come eagerly running when they saw us. We never fed them so it can’t just have been that they considered us kibble sources. Of course we gave them scritches and stroked them and told them what fine pusses they were, but they really did seem to like us.
I’m sure they think so. Mine do. 
Cats and dogs both tend to like me. Not sure about pigs.
It depends on the cat, for sure. Being rescue and/or feral just adds layers on top. I’ve lived with several cats over the years, and they all have been different personalities.
But part can also be in how they (the cat) is expressing themselves. One more subtle way cats do this is their long blink, which hasn’t been mentioned yet.
It seems to dogs being more visibly expressive, which seems in part at least from being pack animals and very social, where domestic cats have tended to the solitary.
Aside- Thinking about it, how many people worry about other pets loving or liking them? Do people worry about their birds or fish or weasels or iguanas?
I’ve posted this before: Cat and Dog Theology
Dog “The humans feed me, pet me, give me a place to sleep. They must be gods!”
Cat “The humans feed me, pet me, give me a place to sleep. I must be a god!”
I blame it all on those damn ancient Egyptians.
If cats didn’t like us, they wouldn’t choose to hang out near their owners when said owners work from home, right? Clearly they enjoy our company or they’d leave the room.
I wonder how much of it is true, but the following passage from Diodorus Siculus always struck me:
Note that the state provides for the care and feeding of all the animals, and this has a religious importance. As for animal cruelty, kill a dog— death penalty. Kill a cat— torn to pieces on the spot by an angry mob.
I’ve seen research that indicates this is incorrect. By the time cats arrived, humans had already bred dogs into rat terriers so wouldn’t need another animal for rodent control. Some cats are excellent mousers, some are not so good. Cats hunt on their own schedule, rat terriers are always on.
According to what I’ve read, cats arrived because humans make tasty garbage. Humans were as stupid back then as they are now, so bribed cats to live in their homes with them and felt special when one curled up on their lap and purred.
We still fall for the fuzzy little jerks, we haven’t learned and probably never will.
/Glances around the room, yep, two cats within arm’s reach and available for stritches at any moment. They like me./
I’ve never seen the garbage hypothesis at all, and think you may be confusing it with how it is speculated dogs may have self-domesticated. Mainly because I don’t think cats would be all that attracted to human garbage piles, which would predominantly have agricultural waste and bones, which cats don’t eat with much interest.
The more plausible garbage related theory laid out in this article ( Cats Domesticated Themselves, Ancient DNA Shows (nationalgeographic.com)) suggests if there was self-domestication it is likely because vermin found human garbage appealing and rapidly grew in number around human settlements, and cats then started hanging around those settlements due to the good hunting with all the engorged vermin running around.
A fascinating thing I saw in that article is that it says tabby is a quite recent color pattern. I had always assumed that tabby, which is good camoflage, was an ancient pattern. The article doesn’t say what the ancient color was. – maybe they don’t mean the same thing by “tabby” as I do? This picture of felis sylvestris looks like a tabby to me.
I had no idea what an ichneumon was (I’m assuming I’m not the only one). At first, Google insisted it was a wasp, but it didn’t see like they would respond all that well to milk and bread. Adding ‘Egypt’ to the search revealed it to be a mongoose.