Is there a way I can default all errors generated by the server to output a nice friendly message or page with somethings like "Sorry you are having trouble at the moment, we will be happy to help you solve any problem that you are having, please contact the site admin and we will get this issue solved ASAP, Thank you for your time -Admin"

Server errors are messy and users have no idea what they mean and every time an error occurs and they have to see these errors it draws them back from returning to the site.