The answer is, we don’t know and the Bible doesn’t clearly answer that question. Hebrews 12:1 may imply that those in heaven are aware of us as we run the Christian race. Jesus’ story of the rich man and Lazarus in Luke 16:19-31 seems to indicate that the man in hell knew that his five brothers on earth were in danger of going to hell. And Hebrews 12:22-24 seems to mean that in Christ we have “come near” to eternal spiritual realities so that heaven is not far away from us.

But I do not believe that people in heaven spent their days thinking about us on earth. That they are aware of us may be true, but the whole point of heaven is being “with the Lord.” Certainly their awareness of us would be from the viewpoint of heavenly reality, not from our current limited perspective. Sometimes we sentimentally say, “I know my uncle was watching me today from heaven.” Nice thought, it may be true, but the Bible does not explicitly teach that. See What Will We Do in Heaven?