My family have always been cat people.
Cats are literally retarded. Dogs are pack animals, they stay with you because they live in groups. Cats don't, they stay with you because even though they have matured, they still think of themselves as kittens and the humans as their parents.
Cat's don't know they that they are retarded, they don't decide that you are their parents. It's just the way their brains are wired to react to the "things" that feed and pet them. If a domesticated cat is abandoned and becomes feral then it will "grow up". It will start to live like a wild cat and usually can't be tamed again. Dogs if abandoned will try to bond with other dogs or other people.
Its not that the mature kittens we live with are bad cats, they don't know any different and they are doing the best they can. They are trapped by the environment they were born into, their parents were probably domesticated and their parents before them. There are whole generations of cats living in the shadow of their patriarchal life givers, never meeting their full potential.