In this work, we propose a Bayesian statistical model to simultaneously characterize two or more social networks defined over a common set of actors. The key feature of the model is a hierarchical prior distribution that allows us to represent the entire system jointly, achieving a compromise between dependent and independent networks. Among others things, such a specification easily allows us to visualize multilayer network data in a low-dimensional Euclidean space, generate a weighted network that reflects the consensus affinity between actors, establish a measure of correlation between networks, assess cognitive judgements that subjects form about the relationships among actors, and perform clustering tasks at different social instances. Our model's capabilities are illustrated using several real-world data sets, taking into account different types of actors, sizes, and relations.