Is it normal to be close with your teacher?

Is it normal that me and my history teacher have a close relationship? he's16 years older than me. when we went on a trip, he was standing behind me and holding my shoulders. he always teases me. sometimes we touch but by accident. he laughs at me, we make jokes about eachother. when we talk, we don't talk about work. he always wants to get me in trouble in a jokey way but it never works. he always picks on me on lessons and whenever he talks to me, he starts smiling and laughing before he even says something, even if it isn't funny. is this normal?