Here’s a lively and fun expanded version of your sentence, highlighting the humorous actions:
The big monkey spent the entire day beside his mother, whining loudly and making funny gestures, all in desperate need of milk. He would stretch out his tiny arms with exaggerated pouty lips, squealing and chattering like a little rascal. Sometimes, he’d try to climb onto her back or even pretend to be a tiny, fierce beast, growling and banging his hands on the ground. His silly antics included bouncing on his feet, making funny faces, and even pretending to cry like a baby. Despite his size, he acted like a tiny, stubborn child, stubbornly whining and fussing, making everyone around burst into laughter at his adorable, funny actions.
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