This might sound obvious, but if you want to get up on the kitchen bench then get on the bench! If they bat you off, then get up again. And again. And again.
Believe me, their patience will fade faster. They have things they'd rather be doing, such as watching TV, or eating. If you think they're going to stand there all day and bat you off the bench, you're nuts. (You could throw in some snarling and biting and scratching as well.)
Eventually, they'll give up and you'll be free to stalk the benches anytime you like. It's a great place to find food. (But that's another tip . . .)