Certainly if Heaven is the true presence of God, His complete union with us, paradise beyond what we can possibly understand, then all of the good things of this world will be made perfect there, no? And certainly relationships with one another will still exist, without the secrets, hypocrisy, hatred, etc. that plague this life. So the answer would be yes, we will still know each other, but in a deep, perfect and different way than we do here on earth.
Peace and blessings,