I have two questions. In our family we have grown up being very close to our cousins. We do take care to observe hijaab and avoid physical contact with na mahram cousins. However at times unintentionally a male and female cousin end up sitting next to each other which sometimes may lead to arms of one brushing arms of other with clothes. Is it haram ?
Also, what is the ruling about eating from the same bowl or sharing a glass of cold drink with na mahram cousin? Just to explain, at times a cousin drinks from a bottle of Pepsi and then some other cousin asks for the same bottle to drink from. Is it haram? And lastly, at times a cousin is carrying her baby and I ask to hold the baby. I try my best to make sure no physical contact is made while the baby is being transferred from my female cousin’s lap to mine occasionally it might occur. Is it haram?

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There is nothing called unintentionally a male and female cousin end up sitting next to each other. Care has to be taken not to sit beside each other, and to wear proper hijab.
Eating from the same bowl is not haram, except if it leads to hands touching. The same thing applies to the glass sharing. However, avoiding such acts is preferred.
With regard to the baby, you can ask her to put the baby on something, then you can carry him.