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.... worry that they'll suspect or know that you're calling/IM-ing them just because you're bored?
As long as you're not just messaging them because you want something, it seems fine. I always talk to people just because I'm bored. I wouldn't text someone while with other friends or at work and I think most people would understand that.
But doesn't talking to someone show you want something from them (if only companionship/feeling less alone/a method of relieving the boredom)?
Well doesn't calling them alleviate the boredom? Sounds like a reasonable solution. I know I've done this many times.
And there's something wrong with that? It's not as if you're gonna call/IM someone when you're busy doing something.