The phrase "friendly rivalry" means having a competition or rivalry with someone in a positive and supportive way, without any negative feelings or hostility. Full definition
The rivalry, when it was such, was a remarkably friendly rivalry. (firstthings.com)
I might even be able to resume friendly rivalries with road test editor Bovingdon, who's planning his own M3 project car. (evo.co.uk)
02 «Value,» the sixth episode of Donald Glover's extraordinary first season of Atlanta, opens with an extended showcase scene of friendly rivalry between the luminous Zazie Beetz (as long - suffering public school teacher Van) and one - episode wonder Aubin Wise (as her childhood pal, now an «Instagram escort»). (thefilmexperience.net)