The use of voice assistants (VAs) in family homes is growing, likely due to their usefulness in navigating the complexities of family life. Given previously observed tendencies to anthropomorphize VAs, an investigation of the relationship that family members form with these devices is warranted—particularly considering the long-term use of such devices in the private environment of the family home. In a large-scale, longitudinal online study, 128 parents with at least one child and one voice assistant at home were surveyed every 6 months over 2.5 years. To measure relationship development, the dependent variable usage frequency was chosen as a behavior-based indicator of ongoing interaction and the dependent variable connectedness as a perception-based indicator. Parents evaluated their own and their children’s usage frequency, connectedness, and potentially influencing variables (divided into the categories social feelings, utility, and anthropomorphization). Social feelings that fulfill a hedonistic-utilitarian purpose (enjoyment and sadness when gone) were found to positively influence usage frequency. Social feelings that suggest that the VA takes over an intimate social role (of a friend) had no significant influence and were rather low. Parents appear to rather view and appreciate the VA as a useful and enjoyable tool; viewing a VA as a friend appears to be met with resistance. This emphasizes the necessity to distinguish between social feelings that are driven by hedonistic-utilitarian motives and those that imply the satisfaction of social needs.