While the versions of Link and Zelda portrayed in that game are not the same as the characters seen in following games, Nintendo did clearly establish that the cornerstone of their relationship (and this series) is primarily founded on their love for each other. This was made clear when they broke ground on a home in A link to the past where they could spend more time together. Additionally, it's known that they have been in relationships before because of certain events that take place within some of the games. For example, in The Legend of Zelda: Ocarina of Time, it is revealed that Zelda is married to an unnamed man from her kingdom of Hyrule. However, this marriage only appears to be valid within the boundaries of Hyrule because later on in the game, she breaks off from him at the advice of Sheik, who tells her that she needs to go find herself and leave her husband behind. It is also possible that this marriage was merely a ruse to hide Zelda's true identity until she became strong enough to face it. In any case, it seems like she and Link develop a close friendship after he saves her from being killed by Ghirahim, which leads to them becoming closer partners in crime. Lastly, it's known that they enjoy spending time together because they both belong to the royalty of Hyrule.