Have you read Codd’s Rules #1 and #2? Pretty clear on this point.
https://en.wikipedia.org/wiki/Codd%27s_12_rules
Technically the relational model uses the term relation to refer to an unordered set of tuples, where every tuple has a key (one or more elements) to uniquely identify it, and every tuple has the same number of items, of the same type. Tables are relations. So are the results of a query, which can include joins.