Hi Sue,
This is more linked to culture - as in many cultures calling someone by their first name (for example Tom, Sarah,..) as opposed to surnames or titles (for example Mr./Dr./Prof. Smith) is not something common, and is only acceptable if you are close to that person.
In your example, being on 'first-name terms/basis' with someone means that they allow you to call them by their first name, which indicates you might be close to that person, or they may be very open; so if someone's distant, this may be hard to do!
Hope this helps,
Alex