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Joe Harper is Tom's close friend and playmate. They are characterized as "two souls with but a single thought." Joe is loyal to Tom and always goes along with his shenanigans, even following him to Jackson's Island. The boys heroize the figures in their favorite stories, and go on make-believe adventures together, often assuming the identity of pirates, generals, or Robin Hood and his band of Merry Men. They "would rather be outlaws a year in Sherwood Forest than President of the United States forever”; clearly they are uninterested in the order and responsibility that accompany adult society. Instead, they celebrate their carefree lifestyles and make-believe games, demonstrating Joe's connection with childhood innocence and imagination.
The boys' affinity for make-believe also showcases the motif of fantasy as a means of escapism. Their journey to Jackson's Island illustrates their desire for freedom both from hardships and from the strict rules enforced by their parents. Their disappearance from St. Petersburg enables Joe to escape the false accusations that his mother throws his way. However, once they've obtained their freedom, their childish natures shine through. They don't actually know much about pirates or sailing and rely completely on their storybooks as a guide. Joe, proving that he is still a child at heart, is the first to give in to his homesickness. He rebels against Tom's authority and suggests that they return. He longs for home and intuitively observes that activities that are usually banned, such as swimming, are not as satisfying when there is no one there to tell them not to. However, the Island also showcases some of the earliest signs of social maturation in the children. Though stealing aligns with the code of piracy that they idolize, the boys are guilt-stricken after stealing some meat for dinner. Evidently, all three of them are maturing and developing a conscience and a code of ethics.
By the end of the novel, both Tom and Huck have matured beyond Joe and have been propelled into adult society. As a result, Huck replaces Joe as Tom's primary companion. This switch in best friend reflects Tom's decision to trade in his childhood for a more mature, adult existence.
