In this paper, we propose a non-task-oriented dialogue system considering user's preference and human relations. The proposed system has the following two features. First, the system estimates user's emotions from the analysis results of user's utterances and stores the individual preference with specific nouns. It allows the system to determine more suitable topics and answer sentences. Second, the system estimates user's human relations from the analysis of user-to-user acquaintance relationship and similarity of preferences. It makes user more interested in conversation because the user can feel more familiar with the system. The performance of proposed system has been evaluated by subjective experiments. We confirmed the effectiveness of the proposed system, receiving higher score about user's satisfaction than the conventional system.