According to the official documentation regarding query operators:
You can use the array-contains operator to filter based on array values.
As I can see in your code, your friendIds argument that is passed as the third parameter to the where() function is of type array. What you are actually doing, you are searching in the members property which is of type array for an array, which is actually not possible since I assume the members array in your database contains numbers.
An query like this:
Firestone.collection('conversations')
.where('members', 'array-contains', 3)
.get()
.then(querySnapshot => console.log(querySnapshot))
.catch(error => console.log(error));
Will work perfectly fine because we are searching within the members array for a number.
If you need to query for all those numbers, you should perform three separate queries and combine the result client side.