I have 4 kittens about 9 weeks old and I'd forgotten how much time they
spend tussling with each other.  They (and the mother cat) do seem to have
taught each other limits because I've heard few "yelps" of pain.  This
instinct to be rambunctious doesn't go away when a kitten is separated
from the litter.

Fortunately, kittens do have a short attention span so it's usually easy
to deflect their attention to something else.  What I've found to be their
favorite is an approx 8' long piece of cord tied to the end of a section
of old bamboo fishing pole.  Admittedly "casting" the cord out and
flicking it around isn't the most interesting thing to do, but it is
effective at burning off their energy.  (And it works for multiple kittens
at the same time.)  Small paper balls that a kitten can carry are good.
Crumpled up paper stuffed in a sock is a surrogate for another kitten (or
a hand) to bunny kick.  Then, when the kitten(s) is tired and settling
down for a nap is a better time to try to pet her.  If she wants to use
claws on your hand, walk away and try again later.  She'll learn.

Also, keep in mind that cats don't have the urge to please humans that
dogs do.  If a cat has the urge to be racing from one end of the house to
the other, one can say "Sit!" until he/she is blue in the face ... and
it's not going to happen.  (Food might work. <g>)