Can I make my dog like to cuddle?

I've had my shelter dog for…let's say a year and a half. Usually she'll sleep by my legs and I wish she'd sleep by my side so I could put my arm over her and whatnot. But she's never liked that. Is there a way to get her to like cuddling? Or, would that be rude/mean? I don't wanna force or her anything, I just miss cuddling like my old dog used to do with me