Funny, I actually think this is similar to Rook's thread here:
And I think all comments there apply here. Although in your case, you bluffed your friend, and in Rook's she didn't show, I still don't think it's right for your friend to get mad and I don't think you took advantage. You were playing poker, which is a competition and the basic rule is to win. You can't win poker without some bluffs.
Rob and I have mentioned our home games a few times. Well, there are times we end up in the pot together. We know very well how the other plays and I use that to my advantage, and I'm sure Rob does the same to me. Heck, I'm saving up info on the friends we have over so I can more effectively take their money. And a few of them have said to me that they've figured out how I play and know how to play against me. Of course they said they were sure I never bluffed, it was hard for me to not laugh. Hee hee, can't wait to bluff them out of a pot now.