Is it normal to want to sleep with my friend?

I had this friend since I was Seven years old. Anytime I see her I just want to jump on her, rip her clothes off, kiss up on her neck and lay on her naked. I have so much fantasies about her when she sleeps over (she would sleep with me on my bed). I told her I want her and she thinks it's a joke.. i mean we even shower together. I do not want anything more then friendship. Just to stay very close friends but be able to always makeout and sleep with her. is that normal?