Absolutely. I can empathize with fictional characters and when I was a kid one of my friends was a dog, so why couldn't I find friendship in something smarter even if it's not human ? Doesn't even need to be sentient as long as it's believable in its way to express emotions.

I'll go a step further, I'd probably feel even more comfortable falling in love with a robot than a human as I wouldn't have to fear getting into an abusive relationship ever again.