No, but they can be pretty forceful with those little paws of theirs when they want to tell my wife and me that they've had enough. We understand that. Biting is NOT acceptable.
I think a lot has to do with how much they were handled as kittens. I've had several cats throughout my life, and those I adopted after their kitten years had widedly different responses to physical touch: some responded well, some were nearly feral (i.e., don't touch me). Those I adopted as kittens and who received lots of gentle handling grew to be pretty mellow cats.