depends on which game you're looking at.. I've only actually played four Zelda games, but they've only been a couple in one of the ones I played. In Twilight Princess, they hardly even know each other.
Wow, this is really amazing. The colors, the textures, the expressions. I feel like Zelda's face looks a bit off, although I can't really place my finger on the problem, I think the proportions are a bit off. Maybe I shouldn't judge, since my drawing skills aren't anywhere near as good as yours. Still the picture is freaking awesome.