SELECT p.text,m.f_name,m.l_name FROM posts p
LEFT OUTER JOIN members m ON p.user_id=m.member_id
where p.user_id in(select id from friends);
OR
SELECT p.text,m.f_name,m.l_name FROM posts p
LEFT OUTER JOIN members m ON p.user_id=m.member_id
INNER JOIN friends f on p.user_id=f.id