The term is companion.
Actually, yesterday I was talking to my Rector about Firefly (I was telling him about my Jayne hats) and he thought it was a children's show.
I said, 'It is definately not a children's show. One of the crew members is a companion.'
Strangely, I didn't have to explain what I meant.
Mal's journey alone would make a good tale, although perhaps not enough for television.
This is my first exposure to a Whedon show, and I am impressed by the deep, intricate interaction between the characters.
The best scene was between Inara and Saffron.
"You're good."
"You're amazing."
I loved it.
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