They can be but need not be.
They could be parallel lines which, between them define a plane. Or they could be non-parallel, non-intersecting lines. Imagine yourself in a cuboid room with your back to a wall. Consider the line (A) formed by the wall behind you and the wall to your right. Consider the line (B) formed by the floor and the wall opposite you. The lines A and B have no point in common butthey are not coplanar.
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Points on the same plane are coplanar lines.
Non-coplanar lines refer to points operating or showing in different planes. None of the points are in the same plane.
they lie in the same plane
the same line
Two lines that do not intersect on the same plane are Parallel lines.