Ami didn't really have that close a relationship with Haruka as compared with the other Inner Senshi. It was Michiru who had a marked experience with Ami (swimming race, episode 97 of Season S).

As SailorMercury, Ami was able to fight alongside SailorUranus in the fourth episode of the Neherenia Arc, SailorStars (ugly fat-faced drawing). The two warriors were fighting with one of Neherenia's mirror clones. SailorUranus had underestimated SailorMercury because she did not appear to be fighting. In the end, SailorMercury's strategic thinking combined with the strength of Uranus' World Shaking attack, they were able to break from the spell of the mirror clone.

The funniest experience Haruka had with Rei was when Yuuichirou challenged her because he thought Haruka was two-timing Rei with Michiru (he also mistook Haruka for a man). Yuuichirou even admitted defeat later on and entrusted Rei to Haruka's care, much to Haruka's astonishment.

Rei was also the only Inner Senshi who seemed to be aware of the existence of the Dark Messiah, and also the only one who had felt the mission of the Outer Senshi (if only she had understood the meanings of her disturbing dreams earlier). She just didn't understand what her dreams meant until Setsuna (SailorPluto) showed her.

SailorJupiter is perhaps one of the most significant Inner Senshi for SailorUranus. In the manga, Makoto started out hating Haruka. Makoto also lost in a sparring match, thinking that it was a guy who had defeated her. Haruka had told Makoto and the Inner Senshi to not always use gender as an excuse when fighting. If a woman cannot beat a man at battle, she could never be able to protect the one she loves. In later acts, SailorUranus became SailorJupiter's inspiration in times of turmoil and battle.

In Season S of the anime, Makoto seemed to have lesbian tendencies toward Haruka--even the Filipino version did not edit this part--as she seemed to resemble her senpai (hardly surprising for Mako-chan as she once even thought a dog reminded her of her senpai). It was later revealed that the reason why Makoto admired Haruka so much was that she wanted to be as stylish and fashionable as Haruka (if wearing a scarf adds to one's stylishness, that is).

Minako is also one of the most special Inner Senshi in the life of Haruka. In the anime, their relationship first started when Minako had mistaken Haruka for a guy and had a crush on her. The mistake was later rectified. Minako's closeness with Haruka can also be attributed to the fact that they both have a love for video game racing (Formula 1).

Also in the anime, it seems that whenever Minako was bothered about something (boys, heart crystals etc.) she would often ask Haruka questions about things related to how she feels, but not directly confiding. Usually, Minako's topics of discussion (being an ordinary girl as opposed to the identity she was hiding) would bother Haruka (in the Season S) because they were very close to what Haruka feels about her mission as Senshi. But during this time, both knew nothing of the other's identity. They just talked in clichés or abstract references.

In the manga, she also hated Haruka with a passion at first and even told Haruka one time to go away before she (and her friends) could do something to Haruka. Of course, Haruka reacted as I would have. She laughed.

SailorVenus is the leader of the Senshi that was sworn to protect the Princess of the Moon. It was revealed in the Volume 2 of the manga but was more emphasized in the SailorStars season of the anime by SailorPluto.