Is there a difference between male and female cats and dogs?

What i want to know is, is there a difference between a female cat and a male cat? we have had 3 male cats and they all very independent, but my friend had female cats and they seemed loving and would sleep on her lap and want to be around her. We then got a female cat but she came from a man that abused her as a kitten so shes very wary around everyone even us and we have had her for 3 years now. We hardly see her. I was just wondering if there is a difference between males and females, in my mind i thought males would be more wanting to go out and roam the streets were as females would rather be in the house cuddled up with their owner, or is the a difference between breeds? Are some breeds tamer than others? Also is there a difference between female and male dogs? to be specific, poodles.