What you seem to be asking for is a class that has more innate bonuses and spell-like abilities that can be used at will, like the Warlock, but without being quite so focused on the blast mechanic.
It's been done. As the previous poster said, you could just swap ranged attacks for melee attacks, and replace spell-like invocations with other ones. It's easy enough, and the balance isn't difficult.
Alternatively, if you go read up on the various superhero d20 games, this is the core of how most of their "hero" classes seem to work; most are more open-ended, with a point-buy ability system (I always liked Four Colors To Fantasy's "Hero" class for this, and we adapted that for our homebrew). But the key is that they don't rely on the X/day or slot systems the D&D Vancian spellcasters use.
But I'd also suggest that if you REALLY want a melee-oriented class with psionic abilities that can do all sorts of impossible physical things, and you don't want to spend a long time redesigning and rebalancing the Warlock, you should just look at the Psychic Warrior in the XPH, or possibly one of the "Psionic Monk" variants people have posted on this board over the years (there are tons of them).