Ross developed that gesture to indicate a curse word so that he can indicate it to Monica without their parents finding out.
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"The Simpsons" and "Family Guy" are cartoon shows and therefore it is impossible for them to be friends. Assuming you mean the creators, the answer is Yes. Seth MacFarlane & Matt Groening have both have stated in interviews they are friends. I'm sure they aren't hanging out drinking together but they are friends in a professional mutual respect sort of way.
Yes, chums means friends, sometimes close friends
Friends for life.
Dead On Arrival.
A Person with no friends or Relationships