The casualness of the "we" to which "Recuerdo" refers betrays an absolute confidence in the closeness of the "you" and "I" who make up the "we." Does that mean that the couple in the poem lives happily ever after? We have no idea. Were they strangers before that night? We don't know that either. For one night, though, they share a definite friendship.
This poem captures the essence of friendship with its description of a brief, happy memory.
By focusing on a brief, happy memory, the poem allows us to experience happiness without questioning the larger picture of the speaker's life with her friend.