We'll start from the top! This is written both factually and opinionated on how Rikuo relates to everyone. In other words, you'll expect him to act towards them in my more serious fanfiction these ways.
Felicia
Cute and innocent, she loves almost everyone. While she won't fight if she can help it, Felicia will if push comes to shove. She dreams of being a star one day. Felicia seems to have something going on with Jon, but nothing is admitted. She looks up to Rikuo as a big brother of sorts.
Lord Raptor
One day, when Rikuo was traveling the land, he got attacked by a ghoul and nearly got his soul sucked out by it out of jealousy. This ghoul's name was Zabel Zarock, AKA Lord Raptor who hates his real name. He has a bad mouth and fights Rikuo constantly, but for some reason they never manage to actually kill each other despite being capable of doing so. Naturally, Raptor has a silly little crush on Hsien-Ko.
Hsien-Ko
Sarcastic, cynical, and doesn't really like being bossed around. She constantly picks on anyone, other than her sister, and Rikuo is no exception to the rule. She doesn't know how to react exactly to Lord Raptor's... erm... affections properly, or at all. Hsien-Ko's human name is Lei-Lei, but changed it soon after she became a Darkstalker to get revenge for her mother. She acts as the brawn of the twins.
Mei-Ling
Thinks more ahead than her sister and gets along best with Donovan (aside from Anita). She prefers to give Lord Raptor the EVIL EYE and make sure he stays away from her sister. She also happens to get along well enough with Rikuo, unlike her sibling. Mei-Ling is more calm and in control, and acts as the brains of the twins. Her original name was Lin-Lin, but was also changed when she too became a Darkstalker. Mei-Ling is older than Hsien-Ko.
Sasquatch
Friendly giant, although not always to humans unless they have his favorite food: the banana. He happens to have become Rikuo's best friend for some weird reason or another, but they do have this odd bond about each other. Sasquatch is otherwise interested in protecting his tribe, being the guardian and all.
Pyron
Naturally, Rikuo despises Pyron for destroying his empire. Naturally, Pyron doesn't give a damn. While Rikuo is not nearly as powerful as our favorite alien, he's still as hateful and ready to try to take on Pyron. The flaming (snicker) Darkstalker finds the merman inferior and keeps his interest in those capable of fighting him. Pyron is also, for some reason, one of Alba Aulbath's favorites.
Huitzil
Doesn't apparently have any importance other than serving Pyron at first, but then one particular Huitzil is found by a boy named Cecil and follows him as he calls Cecil his master. Rikuo doesn't particularly trust Huitzil, as you don't tend to as several of the same robots tried to kill you.
Bishamon
He has his own wild little story, but generically he's written as some sword-wielding psychopath by Alba Aulbath with lack of any other idea for the poor samurai. Ironic, if you understand who her favorite Slayers character is. At any rate, Rikuo tries to evade him as to not get skewered.
Anakaris
Anakaris wants to rule the world. Sound familiar? Formerly a pharaoh, but now he's a mummy and wants to take over the world and not just Egypt. If you don't follow his game, he kills you. Simple enough. Naturally, none of the other Darkstalkers wish to partake in this.
Victor
Um... Not really that deep of a character, but what do I know? He's electric and was brought back to life as a Frankenstein. He protects his sister Emily, or tries to at least. There really is no relation with him and Rikuo, or anyone else for that matter as I know. Sorry.
Baby Bonnie Hood
Otherwise known as Bulleta. She may act cute, but the next second she'll blow yer brains out with some kind of explosive. She's a bounty hunter and seems very reckless; Bulleta also happens to work for Jedah, which as you know would get under Rikuo's skin.
Lilith Aesland
Used to be a part of Morrigan's soul, but was the darker end. For years, she was stuck with no body, then appeared Jedah, offering her one for awhile. Lilith accepted, which brought her to work for the messiah and go after Morrigan to find her body once again. Lilith seems a little naive and innocent, but she's actually very deceiving and gets along well with Bulleta that way.
Queen Bee
Or just Q-Bee, but out of the survival of her soul bee tribe, she works for Jedah as well. For some reason, she's got this weird partnership with Rikuo. Not exactly friendship, or would you call it enemies, really. Q-Bee cares very little it seems for others and only benefits for her kind, and adores souls. Of course.
Jonathan Talbain
At first, he hates most things because of himself. Eventually, he starts to loosen up when he comes around to know Felicia. Jon's werewolf form is known as Gallon as he acts differently that way. Although older than him, Jon also kind of looks up to Rikuo in some odd way. Their fights are hardly as bad as Rikuo's with Raptor, but they're just fun banter.
Donovan Baine
Seems like a heartless dhampire, but he really only wants to protect what little innocence he sees left in the world, that mainly being Anita. He's monotone and prefers not to get himself involved with people like Felicia or Rikuo since it kind of screws up his ways of killing the "Dark Ones" and such, but he eventually just agrees to aid them if they need it.
Anita
Even more monotone than Donovan. Hard to get her to do anything. I can't really say much else.
Demitri Maximoff
Your typical vampire lord? Hardly. Demitri's complex that way. He seems selfish in wanting to rule the Demon World and maybe the Human World, too. Yet, there's his (im)mortal enemy Morrigan. Is it love? Is it hate? Probably both. Demitri personally has no interest in Rikuo as the merman is "inferior" when it comes to power. Unfortunately, this is true.
Morrigan Aesland
Wonderfully playful succubus who holds interest for everyone, especially Demitri, quite naturally. She almost sees him as a target, wanting to uncover to see what makes 'im tick. The Human World is her playground as Morrigan wants little to no business in ruling her world time to time. Again, very little interest for Rikuo. Besides, he couldn't be charmed; he's married and far too honorable for a divorce or something like that.
Jedah
If there isn't an enemy anybody could love and hate more, it's Jedah. The supposed messiah who wants tranquility of the world. Whether it's right or wrong could be argued forever, he goes about it by wanting to absorb the strongest Darkstalkers' souls and using their powers to destroy the remaining species, leaving the world peaceful. Rikuo looks for the same belief, but his way is certainly different. Aside from different beliefs, Rikuo fights Jedah to recover his son, Alba. Jedah seems to hold Rikuo in a respect for his intelligence. Power is a possibility as Rikuo is the strongest merman, but definitely not one of the strongest Darkstalkers. Who can really say?
There are other characters that could be covered but are far more difficult to do, like Cecil, Alba, Ripple, and Oboro. Quite possibly others as well, but I have neither the strength nor the capibility of doing so, sadly. So, they exist in my stories... I just can't write their profiles due to weak excuses and laziness.