I agree with Rick, sometimes we read into their behaviors more than is actually there. Your mantis climbs on you not because it "knows you", but because you are above it, and they like to be higher. That's why if you have an escaped mantis in a room, look for him in the next few days on curtains, the top of shelves, and the tallest furniture.
When we credit them with the ability to favor us, or want to play with us, then we have a hard time when they die, which is in the very near future.We all wonder what they are "thinking" as they sit on our finger cocking their head from side to side, and I think I have figured it out: "If you were any smaller, you would be my dinner!" SEE- I just read more into it than is (probably) there!!