In old-fashioned English, "thee," "thou," and "thy" were used for the second person singular familiar form. In modern English, they have been lost and "you" and "your" are used for everything.
In a famous 1611 English translation of the Bible, the King James version, Psalm 23 contains the words "I will fear no evil: for thou art with me; thy rod and thy staff, they comfort me." ("porque tú estarás conmigo. Tu vara y tu cayado me infundirán aliento.") In a modern translation: "I will fear no evil, for you are with me; your rod and your staff, they comfort me."
Because we no longer have a distinction between the familiar and formal forms of address, familiarity and formality are indicated in other ways. My friends call me "Dan," in very formal circumstances I'm called "Mr. Smith," but either way I am called "you." In the 1600s, family and close friends would have addressed me as "thou" or "thee" rather than "you."