The relationship between Bofoi and Drive Knight is currently unknown. However, Drive Knight appears to know Bofoi enough to not trust him.
The two only briefly interacted with one another. All the information Genos knows about Drive Knight is from the Hero Association and he has never met Drive Knight prior to their interaction. How much Drive Knight knows about Genos is unknown. However, he was willing to warn Genos about Metal Knight. This suggests that Drive Knight has some knowledge of Genos is beyond the Hero Association, and is willing to trust him. So far, Genos appears to be the only Hero who is warned about Metal Knight.