The Bible doesn’t offer any details about relationships in heaven. Based on the words of Jesus and the New Testament writers, we can be confident that heaven will be a far better place than anything we have experienced in this life and will include reunion with people we love.
The rich man recognized Lazarus even though they were in different places and separated by a great gulf (Luke 16:19-31). The disciples recognized Moses and Elijah at the transfiguration, though the two great prophets lived many centuries earlier (Matthew 17:1-5). Jesus told the repentant thief in Luke 23:43, “Today you will be with me in Paradise” (nkjv). The apostle Paul said that we will someday have more knowledge than we have now, implying that we will have greater knowledge of other people than now (1 Corinthians 13:12). He also said that it is “far better” to depart and to be with Christ than to remain on earth (2 Corinthians 5:6-8; Philippians 1:22-23).
Christ will be the heavenly Bridegroom and believers will fellowship with Him as His bride (Ephesians 5:22-33; Revelation 19:7-9). There will be no marriage or reproduction in heaven (Matthew 22:23-33), but the fact that God will resurrect us as individuals (See the ATQ article, Does God Value Individuality?) implies we will recognize each other as individuals and remember earthly relationships.
We will no longer need the exclusive relationships that protect us from loneliness and despair in this fallen world, but since heaven is a place of greater and fuller experience than our current life, we will still know and cherish our earthly loved ones. The joys and ecstasy of marital and family love will be far surpassed by perfect intimacy and trust. Perfected bodies and minds will find fulfillment in perfected relationships and a full sense of heavenly joy and gratitude to God.