Yes
Translation: I want to be with you but right now I can't.
Sometimes, but not always (Just like english). For example. "Quiero estar contigo" (I want to be with you) has "estar" before the prepositional phrase ("contigo": With you). But with "Hay un gato debajo de la mesa" (There is a cat under the table), the prepositional phrase ("debajo de": under the) is not preceded by any form of "estar".
"Tía quiero hablar contigo" means "Aunt I want to talk with you".
It is contigo and not contito... quiero ver el amanecer contigo... I want to see the sunrise with you...
I want to go to bed with you.
"Quiero estar contigo" (informal) or "Quiero estar con usted" (formal).
"Sólo quiero estar contigo"
Quiero estar contigo
Quiero estar contigo para siempre.
"sólo quiero estar contigo"
Quiero estar contigo para siempre.
Yo tambien quiero estar contigo.
'Y quiero estar contigo para siempre' :]
I want you bad, es una expresión para magnificar lo mucho que te quiero tener. es como decir "te quiero con ganas" ó "quiero tenerte fuertemente".
Translation: I want to be with you but right now I can't.
"i want to be with you forever. I love you. I miss you baby"
(yo) quiero estar contigo cada segundo del dia ('Yo' can be omitted)