Hi and welcome to the forum 
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the concept of something loving me, excited to see me, a companion to be with me. I also love the idea of being able to support something emotionally and love them in return. Is that a Succubus?
I have no experience with succubi, but others on this forum have. If you use the search function, you will be able to read about many people’s experiences with these beings 
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Personally, what you wrote reminds my very much of my guardian angel 
. She is certainly someone who loves me and whom I love in return 
. And she is also someone who is always with me 
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You might have negative associations with angels because of your church experiences, but let me tell you – guardian angels are not Christian in even the remotest sense. The Christians even acknowledge that in a roundabout way, by never suggesting to contact one. Many of them will say that there are guardian angels, but you will barely find Christian sources telling you to seek conversation with them. Because your guardian angel knows that you are free to follow your own fulfilment 
, not what the Bible or Jesus says 
.
Recently I even told one of those Christian proselytisers to talk to his guardian angel, and he immediately said that one should only contact God and his son, and that talking to any other entities is occult and therefore forbidden 
. The truth which our guardian angels have to share, is not one that the Christians are willing to hear.
If you’re curious, I wrote a post in this forum, about why and how to make contact: True Will, True Love and the Holy Guardian Angel