The qualities of santa-rasa and the service of dasya-rasa are both present on the platform of sakhya-rasa. On the platform of fraternity, the qualities of dasya-rasa are mixed with the confidence of fraternity instead of awe and veneration.
Krsna's cowherd friends serve Him in sakhya-rasa, along with other friends in Vrndavana like Balarama, Sridama and Sudama, who embody service in fraternity. Other examples of Krsna's dear friends include Bhima and Arjuna in Dwarka and on the Battlefield of Kuruksetra.
"Transcendental qualities are certainly present in the santa-rasa and dasya-rasa, but beyond these there is another quality, confidential attachment, which is pure transcendental love. This loving confidence in the Supreme Personality is technically known as visrambha. On the platform of visrambha, fraternity, there is no sense of awe or veneration towards the Supreme Personality of Godhead. Thus in the transcendental fraternal relationship known as sakhya-rasa, there are three transcendental characteristics: the sense of greatness, the sense of service, and the sense of intimacy without awe or veneration. Thus in the sakhya-rasa, the relationship of fraternity, the transcendental qualities are further increased."
Teachings of Lord Caitanya, Chapter 1
"Sakhya-rati is described in the Bhakti-rasamrta-sindhu (2.5.30) as follows: According to the opinion of advanced devotees and learned scholars, a devotee in sakhya-rati feels equal to the Supreme Personality of Godhead. This is a relationship in friendship. Due to having a friendly relationship with the Lord, not only is one free from material attachment, but one believes in equal dealings with the Supreme Personality of Godhead. This is called sakhya-rati. The sakhya-rati devotee is so advanced that he treats the Lord on an equal level and even exchanges joking words. Although one is never equal to the Supreme Personality of Godhead, the sakhya-rati devotee feels equal to the Lord, and he does not feel guilty because of this. Actually it is offensive to consider oneself equal to the Lord. The Mayavadis consider themselves equal to the Lord, but such feelings entail bereavement because they are material. The sakhya-rati, however, is a feeling experienced in the mind by a pure devotee, and he is eternally related with the Supreme Personality of Godhead in that feeling."
Caitanya-caritamrta, Madhya lila 19:183-184
"As far as friendship is concerned, those high-grade devotees who are almost like Krsna are considered to be great authorities in the modes of friendly relations with the Supreme Personality of Godhead. On that friendly platform there are different kinds of laughing and joking conversations. An example of such a friendly relationship with Krsna is described in Srimad-Bhagavatam when Krsna was once thinking, “Today, while I was engaged in tending the cows in the pasturing ground of Vrindaban, I went to collect some flowers in a beautiful garden. At that time My friends, the cowherd boys, were unhappy even to tolerate a two-minute separation from Me. And when they found Me, there was competition between us as to who would touch the other first with the flowers we had in hand.”
Nectar of Devotion, Chapter 32
Bhaktivedanta Book Trust. HDG A.C. Bhaktivedanta Swami Srila Prabhupada.