"Jealous" has a negative connotation and it would be odd to experience that with my friends. What I could experience though is envy, which is more of an "I wish I...", instead of "fucking bitch, may you be cursed for..."
Envy makes me want and try to be better. I haven't ever had the "keep up what the Joneses" complex. Rather the qualities that I envy would be character traits like perseverance, a positive attitude, how do they do more in less time, etc.
Of course, as a woman I have envied better looking friends, but those who work at being fit, not those who are genetically born beautiful. It makes me want to do the same. "If they can do it, why can't I?" That's the root of envy, for me at least.
As a final comment, if I had "friends" who were jealous of me, I would think twice about keeping them in my circle. Jealousy doesn't raise anyone up, rather it breeds hate. Friends do not and should not feel hate for each other.