Whether Charlie is in the Lucifer comic varies. You'd need to go through specific volumes or issues to determine if they make an appearance. Maybe they show up in certain story arcs but not throughout the entire comic series.
Lucifer can be a good comic depending on your preferences. If you enjoy dark and mythical themes, it's likely to appeal to you. The character development is strong, and the world-building is immersive.
Yes, Lucifer is rooted in a comic. The show borrows the basic premise and some of the core characters, but also makes changes to fit the TV format and attract a wider audience.