According to MadBhagwad Gita:
As soon as one becomes a devotee of the Lord, he also has a direct relationship with the Lord. That is very elaborate subject matter, but briefly it can be stated that a devotee is in a relationship with the Supreme Personality of Godhead in one of five different ways:
1. One may be a devotee in a passive state.
2. One may be a devotee in a active state.
3. One may be a devotee in as a friend.
4. One may be a devotee in a parent.
5. One may be a devotee in a conjugal lover.
Arjun was in a relationship with the Lord as friend.
Sources: MadBhagwad Gita
