The comma before 'and' in a list like "Aaron, Bob, and Carlo" is optional, and very much a personal choice. It is usually safe to leave it out (unless you are writing for a particular house style which requires it).
If you wish to avoid logical confusion, then you will need to distinguish between the uses for a comma. Commas can be used to form lists and to break a sentence into clauses. Both uses are correct, but to avoid ambiguity it is best not to use the comma for both purposes in the same sentence.
If in doubt, break the sentence into shorter sentences. If you don't want to have two separate sentences, you could use a semi-colon to separate clauses instead:
- Today I met my friends Aaron, Bob, and Carlo. We had a lot of fun talking about science, philosophy, and politics.
- Today I met my friends Aaron, Bob, and Carlo; we had a lot of fun talking about science, philosophy, and politics.
Colons can also help with logic by explicitly indicating the start of a list.
For example, "In this experiment I used metals, Imaginarium, Pseudonium and Ultronium" could mean
- I used metals (which were Imaginarium, Pseudonium and Ultronium)
- I used metals (which are not named) and I used Imaginarium, Pseudonium and Ultronium.
By contrast, "I used metals: Imaginarium, Pseudonium and Ultronium" unambiguously indicates that the metals are Imaginarium, Pseudonium and Ultronium.