I'm trying to get a better handle on the relation between Lie groups and the Manifolds they correspond to. Firstly, is the relationship injective? that is, does each Lie group correspond to a unique manifold? Or are all the manifolds corresponding to a particular group homeomorphic?

Also, what formal form does the relationship take? I can intuitively understand the relationship between, say, $SO(3)$ and $S^2$ by thinking about rotating the sphere into itself, but what how does this generalize to a more general group or manifold.