How do you say 'I want to be with you' in Spanish?

Depending upon the number of people, the context and the speaker, the Words for "I want to be with you" in Spanish are:

Quiero estar con usted / ustedes / vosotros, as / vos.

But refering to "tú", one person, familiar style:

Quiero estar contigo.

There really is no direct way to use the term "wanna". You just have to use the full phrase "I want to".