Each story featured a dream sequence in which Waldo would imagine himself to be a famous hero, such as Catzan (Tarzan), Catman and Sparrow (Batman and Robin), The Lone Kitty (The Lone Ranger), Robin Cat (Robin Hood) and Cat Trek (Star Trek). This kind of spoof was deemed acceptable as long as an entire series is not built solely on the same concept. However, the James Thurber estate instituted legal proceedings against Filmation for infringing on the copyrights of The Secret Life of Walter Mitty (1947). As a result, when the series was rerun as part of "The Groovie Goolies and Friends", the title was changed to "The New Adventures of Waldo Kitty" and each show's wraparound segments in which a live action cat would start to dream were removed.
Based on an idea submitted by Lorna Cook, who at the time worked as a layout artist at Filmation studios. Cook threatened to sue when she felt she did not receive the proper credit. Filmation eventually settled on a rare 'based on an original idea by' credit for her.