What was the relationship between Cleopas and Jesus?
The risen Jesus walked with Cleopas and his companion toward Emmaus. They recognized him when he broke the bread. Luke 24:13-16, 30-31
What the Bible says
Luke 24:30
And it came to pass, whilst he was at table with them, he took bread, and blessed, and brake, and gave to them.
Luke 24:31
And their eyes were opened, and they knew him: and he vanished out of their sight.
Douay-Rheims Bible (Challoner revision), public domain.
What the Church teaches
The Catechism recalls that they recognized him in the breaking of the bread. That is what the first Christians called the Eucharist.
Catechism 1329 · Catechism of the Catholic Church