Yes Chihuahuas are pretty affectionate and loving dogs.
My mom and dad have a Chihuahuas and he's very affectionate and loving as well as being protective and will be aggressive if he feels the family is threatened or feels he's being threatened but other than that he's a very loving and sweet dog.
My parents Chihuahuas also loves to crawl up into the sleeve of my dads jacket and sleep their when my dad is sleeping in his recliner.