Since the integration of industrial robots into extensive production lines, there has been a significant emphasis among researchers and engineers on the development of human–robot relationships. As manufacturing needs to evolve, human–robot relations progress through distinct stages to enhance productivity. In this chapter, we review the evolution of human–robot relationships, transitioning from Coexistence and Interaction to Cooperation and Collaboration. We also introduce the 5C intelligence framework, encompassing Connection, Coordination, Cyber, Cognition, and Coevolution. Within this framework, we highlight the emergence of Proactive Human–Robot Collaboration (Proactive HRC) as a prospective paradigm that aligns with the human-centric principles of Industry 5.0.