Cats are like children - you need to set boundaries or they will run riot and during the boundary setting phase they will push back to see how strong your resolve is, so you just have to remember that you might feel mean by being very strict with them in the short term, but it is worth it for the long term benefits.
I have two cats and a DD9 - all of whom sleep soundly through the night... If anything it's my DD who wakes the cats if she goes to the loo during the night! I currently have both cats on my bed - one is curled at my feet and the other is tucked into the back of my knees and they will most likely stay that way all night, unless they decide to trade places.
It wasn't always this way, both of my cats were rescues, the elder one we had from only a few weeks old as she was a feral kitten found abandoned and was in such a bad state she wasn't expected to last the night, but flourished just to spite everyone who expected her not to make it. But because of this she has a lot of instinctive feral traits (shes 3 and she still covers her food bowl if she has food left when she has finished eating, which is a purely feral trait). The younger one we got at 8months old and she had been in a shelter for 4 months where she had struggled to find a forever home because the shelter environment stressed her out which meant she was often overly needy when anyone showed her attention so potential adopters would pass over her as being too high maintenance and too much work ... which meant she was there longer and perpetuated the cycle. This meant they both had various bad habits that took a while to break them of but it was worth the effort.
My cats don't like closed doors, they will scratch them to hell if they think you are having fun (aka peeing, showering or getting dressed) one the other side of a closed door without them and it is the only bad habit I haven't yet broken them of. They used to race around the house at 4am, but getting shut downstairs meant they couldn't do that and they missed out on cuddles ... once they realised that not doing 4am laps earned them the run of the house (and cuddles) but when they did start it up again they were shut downstairs then they stopped.
One of my cats is always needy with attention - she used to walk out of the room you were in and then cry for someone to come and pet her ... that soon stopped when she learned DD and I would no longer go out to pet her/fetch her back. If she goes off and then cries she will get called by one of us and if she comes to us she will get attention but if she doesnt come when she is called we wont go to her either.
The older of my cats likes to be fed first thing, so at the first signs of movement in the morning she used to get in my face, purring, headbutting me and booping my nose/forehead until I got up and fed her. It took a lot of training - allowing her cuddles and scratches for 5 minutes before i got up to feed her but putting her out of the room and not feeding her immediately if she booped me (especially if she used claws) - but she now knows that when I wake up she will get fed sooner if she gives me a 5 minute "snooze" window than if she comes in and demands food immediately.