Parasocial interaction, and relationships, theory: The audience watching the show develop a one-sided relationship with the character. The illusion of having a face-to-face relationship with them, where we view, interact and see them often - creating a "friend" in our head.
An implication of this is: shows like Modern Family, when the characters talk directly to the camera through the interview, as though they're talking to the audience thus can create stronger parasocial interactions with the audience.