Once an SMS has been sent, you have the option to add the recipient's contact details to your address book if these details have not been added.
After clicking Send, you will be asked if you wish to save the contact details. Add the recipient's First name and Last name and select Add.

You will then see that your recipient's details have been added.

Your recipient's details can be viewed in your Address Book. See Address Book for more information about editing and deleting contacts.
