I am beneath myself but above my prime
Left is on my right and up is nearby,
down isn't close... well maybe a bit
When our most popular friend joins us,
me and (some of) my neighbours like to joke, lol
stay close to me and u'll be ok
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The 'K' key on a keyboard
I am beneath myself
'K' is below 'I' on the keyboard
but above my prime
My prime refers to the first letter of My which is 'M'
Left is on my right and up is nearby,
'L' is to the right of 'K' and 'U' and 'P' are nearby
down isn't close... well maybe a bit
'D' isn't close to 'K' but a bit of down, 'O' and 'N' are.
When our most popular friend joins us, me and (some of) my neighbours like to joke, lol
the neighbours are 'J', 'L', ',' and 'O' with 'K' can be used to make 'joke, lol' (there's an additional 'E') As mentioned in the comments, this line may refer to 'JK' as in 'Just Kidding' or a shortened version of 'joke' which could fit better.
stay close to me and u'll be ok
'O' is close to me 'K' = OK