Thank you for this question. And the answer is short and very sweet:
We surely do know our loved ones after our mortal life ends. The Urantia Book assures us that
112:5.22 ...personality and the relationships between personalities are never scaffolding; mortal memory of personality relationships has cosmic value and will persist. On the mansion worlds you will know and be known, and more, you will remember, and be remembered by, your onetime associates in the short but intriguing life on Urantia.
The relationships that we make here on earth are an end in themselves—they are the most important thing that we do while we are alive here, So, you can be assured that you will resume those relationships in some form or another after you leave here and start your long inward journey.
This is one of the most comforting teachings in The Urantia Book. In fact, the entire subject of Life after Death is quite comforting. Just follow the link...