My 2.5yo often wants to nap at about 11am, just he is an early napper, he copes with the long afternoons now but not when he was younger.
When he was younger & did early naps & refused a second one, we used to have a "rest" I was preg, so I put him in his cot with books & toys at 3.30pm & I had a whole pile of pillows on the floor & I snuggled down there & had some calming music on & we "chilled" for 1/2 hour, that got him through to bed time. I took a few days for him not to protest, but I stuck with it & now he often goes to his room to "rest" when he is overwhelemed.
On the crying out for a few seconds then back to sleep, my thought is that she may not even actually wake up, but just be a 'sleep talker' my ds#1 is like that... it is sooo annoying, but I have got used to it now.