wow,I have to say it also confuses me as well,even I was Chinese.I even haven't noticed that before.
literally 朋友=friend 朋友们=friends.
Thomas and his friend托马斯和他的朋友
Thomas and his friends托马斯和他的朋友们(mostly it is a movie name or a book name )
He is my friend.他是我的朋友
They are my friends.他们是我的朋友。(we barely say 朋友们 here.)
If you have better idea,please feel free to let me know.Vice versa