Yeah, it's wrong. I understand why you might not think so, but that's because you've grown up with it and it seems normal to you. Your father is an adult who should know better. I'm not saying he's some kind of rapist monster, but he shouldn't be treating you like a wife (sleeping in the same bed, cuddling, kissing you hello/goodbye, goodnight/good morning, randomly), he should be treating you like a daughter.
You say he'd stop if you asked. Are you going to ask him to stop?