In this paper, topology optimization (TO) problems of structures subjected to design-dependent loads are formulated in the context of a special density-based TO approach wherein a Non Uniform Rational Basis Spline (NURBS) hyper-surface is used to represent the topological descriptor. Unlike classical density-based TO approaches, the NURBS-density-based method allows representing the pseudo-density field through a purely geometric computer-aided design compatible entity. In this context, the problem is formulated in the most general case of inhomogeneous Neumann-Dirichlet boundary conditions. Moreover, a thorough study of the penalty function of the design-dependent loads is carried out to investigate its effect on the optimized topologies and overcome the singularity effect related to the zones characterized by low values of the pseudo-density field. Finally, a wide campaign of sensitivity analyses is conducted to investigate the influence of the integer parameters of the NURBS entity, of the combination of design-depedent loads and inhomogeneous Neumann-Dirichlet boundary conditions, and of the concentrated load on the optimized topology. The effectiveness of the approach is tested on 2D and 3D benchmark problems.