When we are talking about contact forces here, we have to think about Normal reaction and friction.
Normal reaction is applied by a rigid surface on a body to prevent it's motion into the surface. Normal reaction should always be seen after the net force on the body has been calculated.
Friction comes in place when there is relative slipping of a point on a rough surface.
Here both bodies are moving with the same acceleration due to gravity. There will be no normal reaction since the bodies are moving with same acceleration and velocity at a point and are not colliding hence they will not fly off. If the objects are considered smooth there is no friction either. If the objects were considered rough and they had some torque, then might have been friction which would have not let the bodies to stay in contact.
When the bodies were on the table, the body stacked on the top of the other had a force due to weight, this force was balanced by the normal reaction from the body underneath. Now when the table is removed, then again it acts like case 1. The bodies start with same initial velocity and have same acceleration due to gravity, hence they always have same velocity at a particular time frame and are not colliding or not trying to attain the same position as the other object. Hence there is no normal reaction to set them apart, so they will continue to be at a state of free fall while staying in contact.