AMS Schiphol Airport layout

I need to double check the Schiphol airport layout. I have been to Schiphol more than just a few times but have never had the situation I am about to face. I just want to check with others to be sure my plan is possible. If not I will go to plan B. I am arriving on a United Airlines flight and some friends are arriving on a Delta flight about an hour later. As I remember the airport layout (plus what I can see from the aiport terminal map on the AMS webstie) I think I will be able to stay airside and can go directly to their arrival gate and greet them as they get off of their plane. Then we can go through passport control and baggage claim and head to our hotel together. (Plan B is to Exit airside and meet at the shuttle bus desk. Or if one flight is really late just meet at the hotel.)
This is not a big deal but it is their first time to AMS. So if the flight timing works out...who wouldn't like a familar face who can help with the arrival process after a probably sleepless and long plane ride?