You seem to be aware that there are things that should be reserved only for your partner. These however do include the kind of physical intimacy you practise with your "friend". Don't let her kiss you in any shape or form, don't let her sleep with her arms around you. Also what kind of excuse is "she did is jump into my arms so like obviously I didn’t want her to fall so I caught her" . You enable this behaviour, ok this happened once, that's fine, you should scold her and tell to not do this kind of things. In fact that goes for every behaviour that pushes the line.

You are very disrespectful towards your gilrfriend by not establishing boundaries with your friend and enforcing them.