Is it true that the better romantic relationships start off as friendships?

Yes, because to be friends with someone, you need to genuinely care about them. You don't want a "relationship" that's just all about sex or physical attraction. You want a real connection there, with someone you truly care about who truly cares about you. And then, even if the romance doesn't work out, you can still remain friends. I think that's much more meaningful than a romantic relationship that's just physical.