I can relate, and my therapist can too. We both felt that way, I still do sometimes. She's very nurturing and cares a lot about me, so... for me, it is a desire I'm getting met in therapy. It works because I don't expect to rely on her exclusively: I have other relationships and recognize how important they are- however, I appreciate the unique ability in therapy to experience something of maternal caring that really can't be replicated in other relationships, such as with my spouse, friends, kids, teachers, coworkers, etc. And just dealing with the pain of not having that desire fulfilled enough earlier is also a very healing thing and gives me the ability to open up more to the care and good relationships that are available outside therapy to, so it's beneficial directly and indirectly.

You don't sound like a needy idiot at all. Step 1: don't talk down about yourself!