It is shown that Sofia and her mother have a very loving relationship. Miranda is shown to care deeply about her daughter and to not take kindly to people hurting her. Sofia is shown to love her mother more than anyone and has a desire to please her greatly. However, this doesn't stop Sofia from keeping secrets from her. Like the other members of the Royal Family of Enchancia, Miranda is shown to not like it when Sofia does things by herself and only lets her go out under adult supervision. She is also shown to not like her daughter's secrecy and tendency to go off by herself and can normally see through Sofia's attempts to give an answer without giving a straight one. However, she is also shown to have more faith in Sofia and encourages her to be herself. The two grew apart at first due to Miranda now having a new family and queenly duties. This brought Sofia to look to others for guidance, mainly Clover and Cedric. Once Sofia revealed the truth about the amulet, she and Miranda grew closer.
- “I love you, Sofia. Now and Forever.”
- ―Roland to Sofia
Sofia and her new father are also shown to have a close and affectionate relationship. He is an instantly liking to his new younger daughter and gave her the Amulet of Avalor. He's also shown to be very protective of her. Sofia is shown to be exasperated by her father's conclusion jumping and stubbornness. However, she loves him anyway and Roland notes he's lucky to have her since she's always looking out for him. Roland gives Sofia more responsibility later on, as she helps him out with business in Tangu in "Pin the Blame on the Genie". He also admires her leadership, and says she will be a good leader someday in "King for a Day". Roland considers Sofia his daughter, and Sofia considers him her dad in "Dads and Daughters Day".
- “James always makes me laugh.”
Sofia and her big brother James are shown to have a close bond. This is because the two have a lot in common. James's bond with her is strong to the point where he's very protective of her. However, Sofia is shown to be put off by her brother's immaturity and lack of sense of responsibility. James is shown to be resentful of Sofia's secrecy.
- “Sometimes, being different makes things even better.”
Sofia is not as close to her big sister as she is to her brother. This is because they are so different in temperament. When they first met, Amber took an instant dislike for Sofia due to jealousy. Despite finally bonding, the two remain distant due to their temperament. Amber can't understand Sofia's pragmatism and resents her secrecy despite showing many times that she doesn't deserve Sofia's trust due to showing a shameful amount of disloyalty and rudeness. Sofia is shown to have a tolerance for Amber's dramatics and annoyed by her tendency for hysterics over trivialities. Nevertheless, whenever Sofia is mad at Amber, Amber tries to fix their relationship, so they are glad having the other as a sister.
Sofia was excited to have Amber as a sister after moving to Enchancia Castle. After bonding, despite being two different princesses, Amber became happy to help Sofia on princess things and Sofia turned Amber into an outdoors princess. Sofia helped Amber become more mature, flexible, and caring, beginning in The Curse of Princess Ivy, when she taught Amber to be aware of her needs, put herself on the line for her family, and to treat powerful things with caution. Later, in The Mystic Isles, Sofia taught Amber that the needs of friends are more important than material wishes. This led Amber to become more mature and choose to go on adventures, such as when she and Sofia went on a sailing trip together in "Pirated Away" to see a meteor shower. In return, Amber taught Sofia to become a gentlewoman, bringing Sofia to dress and speak in a more formal manner.
Sofia and her Aunt Tilly have a very close relationship to the point where Tilly is the only family member that Sofia is able to completely confide in. Unlike the other members of the Royal Family of Enchancia, Tilly has faith in Sofia's self-sufficiency and lets her do things on her own and gave Sofia the job of being the Storykeeper. She's also the only member of Sofia's family who knows that Sofia has powers until Elena and the Secret of Avalor, where everyone else is let in on the secret.
Sofia adores her grandmother the Grand Queen of Enchancia. Grand Mum is the only one besides Tilly who knew the truth of Sofia's amulet until the events of Elena and the Secret of Avalor, as she helped Tilly learn about it. Both also share a love of riding flying horses.
Sofia's blind spot is Cedric. Sofia absolutely adores him but Cedric is annoyed by her for the most part and was the only person other than Amber who didn't give her a warm welcome when she came to Enchancia Castle. However, he is touched by the respect she pays him, and trusts her with his magical knowledge. When Cedric reveals his past ill intentions in "Day of the Sorcerers", she is mostly mad that he thought they were not friends. When Cedric proves that Sofia has changed him for the better, she forgives him, and the two help each other at magic from now on.
Sofia and Baileywick hold each other in high esteem due to the fact both are pragmatic and responsible. They also are both from villages. In return for all his help to the family, Sofia helps him get a day off, then becomes his junior steward when he has difficulty working.
Clover, Robin, Mia and Whatnaught
- “Whenever any of my animal friends are feeling scared, sad, or mad, I always do whatever I can to help them. And they do the same for me.”
Clover, Robin, Mia, and Whatnaught are Sofia's animal friends at the castle. They were Sofia's first friends there before she made amends with Amber. Whenever Sofia has a problem, she tends to go to them for assistance. Because they became friends with Sofia due to the Amulet of Avalor, they are her closest confidantes around it. Clover has the closest relationship with Sofia, them learning about making friends together. Sofia's friendship with Clover is the source of her greatest achievements in friendship, as well as her greatest failures. Their friendship grows to a point in "The Mystic Isles: The Great Pretender" that he cannot imagine any other animal becoming Sofia's animal helper. However, because of this closeness, Sofia can have a hard time forgiving Clover when he betrays her trust.
Minimus is Sofia's pegasus that she rides in Flying Derby. The two learned about confidence together. Thanks to Sofia, Minimus grows from a self-conscious steed in "Just One of the Princes" to one proud of himself in "The Mystic Isles: The Mare of the Mist." Minimus goes on to help Sofia in many missions for the Secret Library, including saving his brother Mazzimo. Sofia helps him prove to his parents that he is a capable stunt flier as well in "Best in Air Show." And as of now, Minimus is Sofia's Protector Steed of the Ever Realm.
Crackle is the pet pygmy dragon of Sofia's best princess friend, Vivian. Crackle has a friendship with Sofia beyond Vivian, as she has a crush on Clover. Crackle goes to Sofia for help various times, from wanting help to not torch the Leafsong Festival, to needing support when Crispy distracts Vivian from her. The two even went to Crackle's Roast N' Toast together when Crackle didn't have a dragon buddy.
Sofia and Ruby have been best friends since they were little and both are in the same Buttercup troop, along with Jade.
Sofia and Jade have been friends since they were little and both are in the same Buttercup Troop, along with Ruby. However, their relationship is shown to be shaky. This is because Jade doesn't like Sofia's secrecy and how it makes her go behind her back as shown in "A Tale of Two Teams" and because Sofia is wary of Jade's temper and how it brings out her nasty side.
Vivian was the first person at Royal Prep that Sofia befriended. Vivian was really shy from the start, but Sofia managed to help her overcome her fear of public speaking. Sofia considers Vivian her "best princess friend," and they share a love of magic. Their animal friends being friends as well also helps their own friendship.
Sofia and Hugo had a rocky start due to the fact they used to dislike each other. Hugo disliked her for being his competition and because of his drop in popularity and Sofia disliked him for his arrogance and macho attitude. In "The Flying Crown", Sofia and Hugo were paired to ride against the Junior Knights in the flying derby championships. When Sofia taught Hugo the meaning of teamwork, she reformed him and they became friends. In "Lord of the Rink", Hugo found himself going through the same thing Sofia went through in "Just One of the Princes", and she understood his feelings. Hugo cares about Sofia to the point where he is quick to come to her rescue, and she respects him for that. They agreed to perform together in an ice-dancing recital and have shown signs of affection for each other.
Sofia and Hugo are also shown to have plenty in common: they both have brown hair (although Hugo's hair color is darker than Sofia's), they're very good flying derby riders and Royal Prep's first flying derby champions, they both don't trust easily and have a habit of keeping secrets and their feelings to themselves, and both have older brothers and are the youngest in their families; due to being the youngest, their relatives seem to barely take them seriously.
Sofia's closest relationship outside her family and Vivian is with her mermaid friend Princess Oona. Sofia and Oona became fast friends due to both being precocious girls with similar domestic troubles and Sofia trusts Oona beyond all her other friends to the point where Oona is the only friend of hers she's able to completely confide in and who knows the truth of Sofia's amulet and about Sofia's powers. Oona is completely loyal to Sofia to the point where she was the only merperson aho didn't turn on her after the relevation that she's a human and defended her from bigots like Plank. After Oona was abducted by Sea Monster Cedric, Oona believed that Sofia could rescue her even when Sofia herself began to doubt it when nobody else believed in her. When the two reunited in "Cool Hand Fluke," Oona returned the favor of Sofia helping her by defending Sofia when Fluke doubted her.
- “She used to be a bad witch and hex people, but once I showed her that we need to be nice to make friends, she became a good witch... and a great friend.”
Sofia became friends with Lucinda the Little Witch after she helped the latter reform and become a good witch. Sofia is devoted to Lucinda to the point where she always defends her from bigots and Lucinda is devoted to Sofia to the point where she's always happy to use her magic to help her. Sofia helps Lucinda show her mother she is a good witch, and then helped her become a Midnight Witch and help her friends get along.
It's unknown how their start was, but it's shown that Sofia and Desmond are close. Sofia respects Desmond for his smarts, and Desmond respects her for being the only one who didn't make fun of him for his timid nature. Similar to her friendship with Vivian, Sofia helped Desmond become more confident, and they both share a love of magic. However, their friendship hit a brief moment of strain when Desmond was reluctant to ask for help in magic, and went against Sofia's advice.
Sofia and Miss Nettle used to be enemies until Sofia helped Miss Nettle get the credit for creating the Nettledrop. Later, when they reunited, Miss Nettle was looking for a cure for the Deep Sleeps. She invented a flower called The Wakey-Upsy Daisy to cure the Deeps Sleeps. However, she needs the magic of Ivy's butterflies to make the Daisies grow. Due to all the Daisies wilting and animals falling victim to the Deep Sleeps, Sofia knew she made a mistake of catching them out in the meadow. After freeing the butterflies, which makes the Daisies grow, and using them to wake up the animals, Sofia was surprised to see Ivy and Miss Nettle become friends and partners. While Miss Nettle and Sofia aren't enemies anymore, they aren't close friends, and tend to stay in their own spaces.
Sofia idolized Carol of the Arrow and her Merry Band of Helping Hands. When she saw them help a horseman, Sofia wanted to meet Carol but was dismayed when she heard Carol voice her dislike for the Royal Family, so she disguised herself as a village girl to meet Carol. Unaware of Sofia's true identity. Carol took an instant liking to Sofia and invited her to join the Merry Band much to Jane's jealousy. After learning of Sofia's true identity, Carol apologized to her, and after Sofia saved Jane and a baby raccoon, Carol welcomed the young princess into the Merry Band.
Sofia's friendship with Hildegard is shaky because, like Amber, Hildegard can be snobbish and speaks her mind too much. Because Hildegard believed it's important to know everything, she tried too hard to impress Sofia by gloating that she knows everything and ruffled Sofia's feathers. When Sofia learned the true reason Hildegard was behaving like that, she told Hildegard that being kind and honest is better than pretending to be someone you're not. However, this didn't stop Hildegard from being insensitive to Sofia in "Dads and Daughters Day", where she unintentionally hurt Sofia's feelings by telling her that King Roland isn't her real father and didn't apologize for it.
Sofia is great friends with Princess Clio and helped her show everyone who she really is. When Sofia learned of Clio's singing talent, she urged her to try out for the schoo play Hello Polly. But Clio told Sofia that she couldn't do that because she and Hildegard do everything together, and Sofia could tell that the only reason for that is because they only did what Hildegard wanted to do. Sofia managed to help Clio realize that it's important that she put her own needs first rather than someone's selfish wants.
Sofia had a rough start with Jane, who was second in command of the Merry Band of Helping Hands. When Carol of the Arrow invited Sofia to join the Merry Band (unaware that she was a princess), Jane became jealous of her and tried to talk Carol out of it only to lose Carol's attention to Sofia. Whenever Sofia had a great idea for a good deed, Jane would sabotage her ideas and even wound up exposing Sofia's true identity. Jane furiously told the Merry Band to forget about Sofia and rescue the raccoon only to feel guilty when Sofia took off. When Jane tried to rescue the raccoon, she wound up going down the river, and Sofia arrived and came to her rescue. Jane gratefully thanked Sofia for saving her and admitted her jealousy and that she made Sofia's good deeds go wrong. When Sofia was accepted into the Merry Band, Jane happily welcomed her in.
Sofia had a bumpy start with Oona's big sister. Cora took an instant shine to her but turned against her after Sofia revealed that she's a human. Things got worse after Oona was kidnapped by Sea Monster Cedric. Their bond took a positive turn when they saved Oona together.
- “You're not the only one.”
- ―Sofia to Elena
Elena and Sofia helped each other ever since Elena heard Sofia's cry for help while she was trapped in the Amulet of Avalor. Elena trusted that Sofia would free her, as Sofia was young enough to trick Shuriki, but was also brave and clever. However, Sofia did not know that Elena was trapped in her Amulet until Alacazar told her, and she did not form a close friendship with Elena after she was freed.
At first, Sofia and Sir Jaxon were enemies due to the fact she was trying to help Sir Oliver get the Ice Fire Shield at first. Despite this, Sofia respected Jaxon for being more honorable than Sir Oliver. They became friends after Sofia saved his life and Jaxon revealed Oliver's deception.
Sofia and Plank had an extremely negative start. Plank took an instant shine to Sofia but turned against her after she revealed that she's a human. Things got worse after Oona was abducted: When Sofia told the colony about Oona's abduction by a sea monster, Plank refused to believe her and accused her family of kidnapping Oona. Plank however was forced to accept in the end that Sofia was telling the truth after Oona was rescued.
At first, Sofia was afraid of Willawing the dragon and her dragon friends because they were setting fires all over Brazendell, the princess unaware that Sir Oliver was responsible. But when Sofia saved Sir Jaxon from the flood Sir Oliver caused, Willawing revealed her true colors to Sofia, and she thought Sofia was so adorable that she just picked up and embraced Sofia and tickled her chin. Sofia and Willawing became friends after Willawing and Jaxon revealed Sir Oliver's deception.
Sofia and Wendell were enemies when Wendell kidnapped Minimus to get something he wanted. Sofia, Amber, and James reunited with him when they were all sent to Camp Wilderwood. Sofia remarked that Wendell may deserve a second chance...or a tenth chance. Sofia was surprised but pleased that James and Wendell were getting along. In the end, Sofia and Wendell became friends after winning a race with the Junior Knights summer camp.
Sofia and Mandy first met when they first came to Camp Wilderwood, and they became fast friends. Although Sofia introduced Amber to Mandy, Mandy was more interested in Sofia than Amber. Sofia suggested Mandy and Amber be camp buddies during a race with the Junior Knights summer camp but wound up not having a buddy of her own. That's when Mandy and Amber invited Sofia to join them.
When Sofia first met Prince Hugo's flying horse Electra, the mare took an instant shine to her. Thanks to Electra, Sofia found out what was bothering Hugo, and they helped him learn the true meaning of teamwork, so they could win the Flying Crown.
- “Any friend of Uncle Ceddy's is the bestest best friend of mine.”
Cedric's niece, Calista, took an instant shine to Sofia for being friends with her uncle. Both girls greatly respect Cedric, and in "Through the Looking Back Glass", they worked together to get Cedric and his sister Cordelia to get along by clearing up a misunderstanding. Sofia then invites Calista to trick or treat with her witch friends.
When Sofia first met Skye, a bond immediately began to form between them. Sofia and Amber had just arrived at the Mystic Isles to stop an evil Crystalmaster. Sofia got him unstuck from a tree and to repay her for her help, he vowed to accompany her and Amber on their mission and serve her forever. Skye then gave Sofia and Amber a guided tour of the Isles and through out the whole adventure, he was very protective of them and was always referring to them as his princesses. And in "The Mystic Isles: The Mare of the Mist", Skye got the job of being Sofia's Protector Steed of the Mystic Isles.
Chrysta is Sofia's Protector trainer in the Mystic Isles. At first, Chrysta was reluctant to teach Sofia, as she thought Sofia was just a pampered princess. But after Sofia passed her tests and rescued Chrysta, Chrysta felt guilty over being a bad teacher, and the two gave each other second chances. Chrysta and Sofia are in a tense friendship, as Chrysta can still dismiss Sofia, but they grew closer in "The Mystic Isles: A Very Mystic Wassailia" when Sofia discovered Chrysta was critical of her princess status because she lived in a poor cottage. After Sofia gave Chrysta a happy Wassailia, Chrysta no longer called Sofia "Princess," and began calling her by her name.
Sofia and Princess Ivy used to be enemies ever since the latter came to Enchancia. Ivy came to Enchancia when Amber jealously stole Sofia's amulet and tried to use it to summon a Disney Princess. When Ivy met Sofia, she offered to be best friends with her, but confused by the amulet summoning Ivy, Sofia told Amber that her amulet only summons Princesses when there's an emergency and then sends them back. When Ivy heard this, she used a butterfly to steal the amulet and tried to destroy it much to Sofia's horror and chagrin. Ivy tried to hit Sofia with a memory-erasing dragonfly, but Amber let herself take the hit to save her younger sister. As a result, Ivy went back to her deserted island, and thanks to her dragonflies, Sofia and her animals are the only ones who remember her.
Later, in their second encounter, Ivy was not pleased to see Sofia again, due to their previous encounter and treats Sofia with disdain and initially refuses her help, until Sofia informs her that the Amulet cannot send her back to Enchancia until she helps Ivy. After Roma informs Sofia that Ivy's butterflies have gone missing, Ivy relents. Together with Sofia, they find the butterflies circling a patch of colorful flowers. Although Sofia helps Ivy retrieve her butterflies, the Amulet doesn't send her back; Ivy dismisses Sofia's predicament as not her problem and returns home.
It turns out that Miss Nettle grew the flowers, Wake Upsy Daisies, as a cure for the "Deep Sleeps": a magical phenomenon that affects animals and puts them to sleep indefinitely. The magic in Ivy's butterflies allowed them to grow, and without them the flowers cannot survive. Ivy refuses Sofia and Miss Nettle the use of her butterflies, forcing them to free the butterflies with Roma's assistance.
Upon discovering this, Ivy is angry at Roma for his betrayal and chases after Sofia and Miss Nettle, sending her memory-erasing dragonflies after Miss Nettle to harass the fairy. Unable to disobey Ivy, Roma helps her recover the butterflies but soon falls victim to the Deep Sleeps. To Ivy's surprise, she begins experiencing sadness and worry over losing her only friend, and when Sofia points this out to her, this convinces Ivy to free the butterflies.
Having come to realize that it feels good to help, Ivy assists Miss Nettle in growing the Wake Upsy Daisies, and the local animals gift Ivy a wooden throne out of gratitude. Ivy realizes that her original goals of wanting a kingdom of her own were misguided, now that she has one in the form of her island prison, surrounded by friends. This realization allows the Amulet to send Sofia home.
Sofia and Slickwell got along great at first. But after Baileywick suddenly became clumsy and Slickwell urged him to retire, Sofia began to lose her respect for the man and after she discovered he was the reason Baileywick became clumsy, Sofia instantly developed an extreme dislike for him and scornfully exposed him to her parents.
Squires Vaughan and Vance became Sofia's new flying derby rivals in "The Flying Crown". Sofia dislikes them for the same reason she used to dislike Hugo. They didn't complain about racing with a little girl, but Vaughan remarked that he and Vance would win the Flying Crown like they did every year. Sofia didn't have respect for them due to their arrogance and rudeness. Vaughan and Vance may have been unaware that Prince Hugo helped Sofia pass them during the race as they wondered how she was able to outpace them.
Sofia and Hornpipe had a falling out when he refused to believe her about Oona's abduction. When Sofia told him and her family about Oona's abduction and Queen Emmaline's threat to sink the Floating Palace, Hornpipe refused to believe her and even accused her of making it up out of spite. When it was confirmed Sofia was right, he didn't apologize to her and they have been enemies ever since.
At first, Sofia liked Crispy because she thought he was cute. But after his true colors as a crook were revealed to her she scornfully exposed him to Vivian. Crispy made the mistake of underestimating Sofia, who became his undoing.
Sofia and Mamanu have been enemies ever since Sofia foiled Mamanu's plot to steal the Emerald Key and Fire Pearl of Hakalo. Mamanu is the first truly dangerous magical foe Sofia meets, as she tries to badly harm Lani in "Stormy Lani".
Prince Roderick of Borrea became Sofia's new princely enemy when they first met. Unlike Prince Hugo, who used to be villainous himself, Roderick was bad enough to actually threaten to hurt Sofia.
- “How can I say "no" to such a dear child?”
Sofia faced Shuriki in order to free Princess Elena from her amulet and restore the kingdom of Avalor. Sofia successfully stole Shuriki's Wand by persuading her to dance, but also accidentally endangered her family by failing to explain to them what was going on. After Elena defeated Shuriki, Sofia never crossed paths with her again.
Sofia and Sir Oliver were allies at first due to the fact she tried to help him get the Ice Fire Shield at first. Despite this, Sofia had no respect for Oliver due to his arrogance and rudeness. They became enemies after Sir Jaxon revealed Oliver's deception, and later fought again in "The Royal Dragon" after Sir Oliver tried to sabotage the Roast N' Toast.
Sofia initially got along well with Grimtrix due to him having the title Grimtrix The Good. This came to an end after he tried to steal her Amulet. This worsened when Grimtrix lured Cedric to try to take over the kingdom again. In both encounters, Sofia and Cedric defeated him together.
At first, Prisma seemed like a lost girl in need of Sofia's help when Sofia and Amber met her below the gateway to the Mystic Isles. She revealed new abilities of the amulet to Sofia in order to return to the Mystic Isles by flying unicorn. Prisma took advantage of the sisters wanting to defeat a yet-unnamed evil Crystalmaster by saying the Crystalmaster was her sister Azurine, who stripped her of her powers. Prisma then manipulates the girls into retrieving her Terra Crystal, saying she will give Amber an amulet just like Sofia's. Upon retrieving her Terra Crystal, however, she betrays the girls and reveals herself as the true evil Crystalmaster. With the help of Skye the flying unicorn, Harrumph the Rompkin, and Azurine, Sofia and Amber defeat Prisma, getting her arrested by the Protectors. However, Prisma later escapes thanks to her crony Twitch stealing a Necessi-Key, which creates doors. Now, Prisma and Sofia are competing over the possession of the Wicked Nine, with Prisma wanting to use the objects to regain her power, and Sofia wanting to keep the objects out of the wrong hands.
Twitch is Prisma's shape-shifting henchman, who Sofia met when he began to seek the Wicked Nine on Prisma's orders. At first, Sofia did not realize he was trying to steal the Falcon's Eye, the first of the Wicked Nine, but when she saw him take it, she gathered up her friends to stop him. Sofia retrieved the Eye, but lost her Necessi-Key, and has been trying to get it back ever since. Twitch then helped Prisma try to steal Maleficent's Spindle, but was thwarted again.