They were, yes. Mickey was my boyfriend when I met the Doctor, then he traveled with us. Even before he did, he would sometimes help when we were back on Earth.
Sarah Jane traveled with the Doctor long before I did. I think something like... six before the one I did. You should ask him about her, she's a lovely woman.
The last time I saw Sarah Jane was when we put the planets back where they belonged after defeating Davros and the Dalek army. Mickey lives in the alternate world I do, along with John.