Yes Chihuahuas are very loving and affectionate dogs.
I have A Chihuahua dog and he surely loves me and loves to cuddle with me whenever I'm in bed or on the couch and he loves sleeping on my chest since I sleep mostly on my back.
As long as you show your Chihuahua love and treat them good then the Chihuahua will almost always show their love and affection for you as well.