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You can use the people browser to find someone to add. Click on their name to visit their profile page. Clicking "Add Contact" will add them. They will automatically be tagged as 'friend'.
You send a message from your messages page to a contact, or alternatively from someone's profile page (e.g. http://rhub.net/people/PERSON/), click "Send an IM". If you check the "Forward" checkbox, rhub will attempt to forward your message to the person's alternative messaging methods, like an SMS or MSN Messenger or Jabber/GTalk IM.
You can also use the Console, and send a person a message like this: >Bob: G'day bob!
read more about sending messages to people