If you are a circle member and another member of your circle is subscribed to Premium Service, you can enjoy all the benefits of Premium Service. However, Premium Service features will be limited to the specific circle only.
In order to use Premium Service features, make sure that the circle is selected in the circle selector. The circle selector can be found at the top of the friends list. It may be defaulted to "All Friends" until you select the specific circle.
Once you're in the circle, you will be able to view the circle members' location, location history, and Driving Report. You can also receive Alerts from the circle members.