Such interactions are called "agnostic". (In an oddity of the English language similar to the flammable/inflammable divide, "agonistic" and "antagonistic" sound like they should be opposites, but actually have exactly the same meaning). In the case of solitary animals, they are often the main form of interaction within the species other than mating. But, for animals that live in groups, it necessarily has to be different.
Even if we ignore any breeding season, when competition, especially among males, is likely to be intense, animals within a group are still likely to come into conflict from time to time. In order for the group to remain cohesive, there has to be some mechanism to defuse this tension, to ensure that the pressures of competition don't outweigh the benefits of staying together. Such "affinitive" behaviour helps strengthen social bonds, and reduce stress.
