P.M.
Every child is an individual, so probably the best you'll hear are general tips to try, like these:
It sounds like your daughter's days and nights are confused and not very well biologically regulated. The more physically active a child is during the day, the more avid their little bodies will be for getting rest at night, and for naps when they're young. Lack of physical activity makes for a less comfortable body and mind. So, in spite of your daughter's inclination to lie around during the day, it may serve both of you well to be sure she gets plenty of physical activity. She may well be resistant out of habit, so you'll do well to make it something "worthwhile" to her. Things that have always drawn my grandson into being active and giggly when he's cranky are pillow fights, building tunnels with chairs and blankets, tumbling tricks on the rug or lawn, exercise to video routines, races up and down the sidewalk, bopping a balloon around for an hour. Dancing and exercise balls are fun.
Contact with nature is nourishing to the brain and nervous system, so physical activity outside (walking, biking, free play, a trip to the park) helps children settle, relax, and focus. And a good dose of natural daylight during the day, ideally a couple of hours or more, contains the "blue" light wavelengths that helps normalize day/night cycles.
Similarly, the blue light radiated by TV and computer screens should be avoided within a couple of hours of going to bed, because it disturbs the brain's ability to produce natural sleep-regulating hormones like melatonin. (You might ask your pedi about using melatonin with your daughter – it helps some kids with neurological dysfunction to sleep better.)
Good bonding, happiness, and relaxed, cuddly family time during the day helps kids relax toward sleep. Particularly in the evening, snuggling helps kids unwind and feel safe. This is not just on the conscious level, it goes deep into the child's whole take on how happy and safe the world is, and is why so many kids adopted from orphanages seem so tense, watchful or detached, uncomfortable, and at odds with the world. (It's also why older siblings tend to regress, in sleep, eating and/or potty habits, when a new baby arrives or is imminent.)
Loneliness, anxiety, and physical discomfort are much more difficult for adults to deal with in the middle of the night. There's every evidence that this is true of toddlers and children, too. Be sure your daughter has lots of quality cuddling and conversation during the day, and perhaps her need for it at night will diminish.
Also, talk with her during the day about how she can meet some of her own needs during the night. Have a light within reach, a box of tissue, books or a cuddly toy that will allow her to lie quietly in bed. It sounds like she really wants her mommy's company. Ask her if a "mommy bear" to cuddle or a picture of you cuddling her on her wall might help. She may have other ideas that could help, too. Kids can be quite creative problem-solvers (read the wonderful book How to Talk So Kids Will Listen, and Listen So Kids Will Talk for more on this and other wonderful techniques).
Some very recent research suggests that a pre-bed "routine" is not uniformly helpful to every child on every night. Kids have different moods/needs on different days, just like adults do. So it may help to stay flexible and respond to whatever needs become apparent. This might result in skipping a bath and putting her down 20 minutes early if she's showing clear signs of drowsiness early, or taking an extra 20 minutes some nights comforting your adorable child.