And he even makes that explicit:
Matt 12 :46-50
While he was yet speaking to the multitudes, behold, his mother and his brothers stood outside, seeking to speak to him. One said to him, "Behold, your mother and your brothers stand outside, seeking to speak to you." But he answered him who spoke to him, "Who is my mother? Who are my brothers?" He stretched out his hand towards his disciples, and said, "Behold, my mother and my brothers! For whoever does the will of my Father who is in heaven, he is my brother, and sister, and mother."