Formal:
* Eu quero estar com você. (Most straightforward and neutral)
Informal:
* Eu quero ficar com você. (More common in casual settings, implies a desire for intimacy)
* Quero estar perto de você. (Emphasis on proximity)
Romantic:
* Eu quero estar ao seu lado. (Romantic, implying a desire for companionship and support)
* Eu quero ser seu/sua. (Very strong declaration of love, implies a desire for commitment)
Remember:
* You'll use "você" for informal and "você" for formal.
* "Seu" is used for masculine nouns and "sua" for feminine nouns.
Bonus:
* "Quero te ter aqui comigo" - I want you here with me (more affectionate and passionate)
* "Quero ficar contigo" (informal, more intimate)
The best way to say it depends on the context and your relationship with the person.