I don’t know exactly what cats think, if anything. I’ve been yawning around cats for 35 years now and not a one has acted like that was a threat. They yawn too so I I think they get it.

My cat doesn’t even seem concerned about getting stepped on by the big clumsy oaf she lives with, let alone eaten. She’s seen the things I eat and they look nothing like her. I’m not a threat, I’m a self-heating cushion with built-in can opener to her.

House cats at least, felis catus, seem to genuinely enjoy the companionship of humans. Mine will follow me around the house and sit next to/on me. She sleeps next to my pillow every night.