I think this is something many don't realize, that being "alone" and being "lonely" are two very different things. You can be lonely and not be alone, and you can be alone and not be lonely. Once we realize this as individuals, life seems to get much better. It's something I realized, too.

I do surround myself with friends I can trust. I am not close to my family at all, so my friends are my family. We do a lot together. The only way I am truly "alone" right now is the fact that I am single, but that is something I have accepted as I am not ready to start over after my last breakup. Like you, I am pretty happy with where I am right now even though I don't have a significant other.

It's great that you know exactly who you are and what makes you happy right now, I would say that's more than half the battle. Keep it up.