It's overall a much safer and enjoyable situation. With a friend the pressure isn't on to perform perfectly. You are allowed to be human. When the ideals are found not to fit these all too human beings, disillusionment and disappointment follows. In friendship you are perfectly aware of each other's humanity and choose to accept it.
Friends can be honest about birth control and protection.
Friends can laugh when things don't work out perfectly on a date or in bed, knowing that they will have another chance at it later. Friends feel secure in the ongoing nature of the relationship and therefore have no need to cling, but give one another their freedom. The best way to become a friend is just learn to be concerned about the other person's day to day joys and cares, maintain ongoing contact and make sure to have fun together alone and with other friends. Do little things. Too much of a good thing, though, and your beloved will feel that you are trying to buy their favours.