Please rephrase your question. What is it asking you to rephrase?
Is it this: "People claim that they have friends...."?
If it is really "People's claims that...", this is an incomplete sentence, so it's impossible to rephrase it.
A way to rephrase the statement "people's claims that they have friends with whom they share ideas and life experience" could be, "Some individuals assert that they have companions with whom they exchange thoughts and life encounters."
