No, you need to invite your friend to a group then teleport to their position, they are in a different version of the world because that is usually how MMOs work. Once you transport into the same world and are joined up you should be ready to go. If you cannot find your friend under the social tab on ESO, join an xbox party, remove them as a friend and re-add them and they will be sitting right there in the social tab. My friend and I were also very confused in the beginning because we were not in each others social tabs, the unfriend and re-friend trick worked for us.