Cats are really underrated, because most people don't understand how to train them, or that they CAN actually be trained. Not trained in the sense that you can make them do backflips, but behaviorally, not that people HAVEN'T trained cats to do tricks, most people just find it silly, or the cat is like "yeah right".
And yes, they can be trained.
A simple example of what I did: Most cats dislike being held, and especially HATE being held upside down. It is their instinct to not be oriented that way, and they don't like it because they are scared that they are going to fall, however, this is one of the easiest (and safest (for you)) ways of holding them without causing them discomfort.
So, with my cat, over a period of about two months when she was a kitten, several times a day I would simply pick her up and cradle her snugly against my chest while giving her lots of petting & scratching (I would have to hold her snugly so she COULDN'T struggle, because she would be scared, and likely struggling could cause her to fall, and/or turn my flesh to ribbons) for about ~30 seconds or so, then just let her go. After much repitition she got used to it, and no longer struggles when being held, as she is no longer scared because she does not expect to fall, and in fact, loves it now because she gets a lot of attention. Doing this made her very sociable, and she enjoys sitting on laps now, and will not struggle when being held, unlike most cats.