Short explanation:
It is true that all animals including humans share a common ancestor, so we're all related in a way. Turns out, some species are more similar to other since they shared a longer "common-evolutive path".
Comparison:
If we compare antelope and squirrels, we might see they don't have much in common. Antelopes are bigger, have a different diet, have a differnt habitat, have a different colour, have horns, etc. And all that also applies to squirrels.
If we compare rabbits and squirrels, we can see that the have a similar size, similar diet, alike teeth, a similar habitat in some occasions, etc.
Answer:
The most logical prediction would be that rabbits and squirrels have more similar DNA than antelope and squirrels.
Hope it helped,
BioTeacher101