KiCad PCB Layout Editor - Selecting entire component/footprint instead of a particular element
If you are using KiCad v5.1.x, you can hold down the Alt key while clicking to get the disambiguation menu for everything under your cursor.

Here is an example of performing this action in pcbnew.  Note that when clicking without the Alt key held down, we get just the pad as it is considered the "most likely" target if you are directly over it.  But with Alt key depressed while clicking, we get all items directly under the mouse cursor.