Is it true that when an object is seen moving in relation to a stationary object the stationary object is called the frame of reference or reference point?

That is true, by the object doesn't have to be stationary. Even if the object is moving, it can still be a reference point. For example, if a car is moving at 40 mph, then using the reference frame of a stationary person, it's going 40 mph. But if you have a bicyclist as your reference point going at 10mph alongside the car, it seems as if the car is only going 30 mph.