Midir loves to be held in the "baby burping" position too, he would stay there all day if I let him. He also likes to be held laying on his back like a baby, tummy up, legs fully extended, head dangling upside down ... I think he likes the blood rush to his head, he often lays on the edge of the sofa and chairs like this too.
Etain does not like to be picked up at all, but as soon as you sit down, she will jump into your lap.
Each cat is a little different, with time, you'll find out what your kitty's preferences are. The most important thing is to make sure you're supporting their whole body and pay attention, their body language will usually let you know whether they are comfortable or not.