Companion. Confidant. Co-conspirator.
But that's why you have two hands.
1. feel a powerful desire for (something).
"a program to give the infants the human touch they crave"
synonyms:long for, yearn for, desire, want, wish for, hunger for, thirst for, sigh for, pine for, hanker after, covet, lust after, ache for, set one's heart on, dream of, be bent on;
2. beg for (something)."I must crave your indulgence"