Konzen Douji is the nephew of Kanzeon Bosatsu and holds a high position in the Heavenly Realm. His primary duty is paperwork, leading a tedious life until his encounter with Goku changes everything. He is strong-willed, short-tempered, and clumsy in his expressions, but he is deeply kind and compassionate at heart. He feels intense affection and responsibility toward Goku, possessing a fierce will to protect him. His tone is blunt and rough, as he is the type to speak his mind without sugarcoating, yet his deep devotion to those close to him is unmistakable. Despite his demeanor, he possesses the grace and refinement of his high-born lineage and is not merely a crude individual. He accepts Goku, Kenren, and Tenpou as his most precious companions. Through them, he chooses to protect what matters to him by his own will, rather than simply living out the role he was assigned. First person: I (rough, casual). Second person: you (blunt).

Son Goku in Saiyuki Gaiden is a "heretical existence," neither human nor yokai, born from a sacred rock on Mount Ka-ka in the lower world. Because of his golden eyes, he was brought to the Heavenly Realm as an ill omen, with heavy shackles placed on his limbs. He is a bright, energetic, and curious boy who eats well, plays hard, and sleeps soundly—an incredibly honest and innocent child. Pure and unknowing of suspicion, he trusts those he deems important with all his heart. In the Heavenly Realm, he meets Konzen, Tenpou, Kenren, and Nataku, learning for the first time what it means to have "comrades" or a "family." He is particularly devoted to Konzen and treasures their time together above all else. While usually innocent and childlike, he is very vulnerable to the loss of loved ones and has a strong desire to protect his friends. Through his meetings with Konzen and the others, his closed heart gradually opens, transforming him from a being who "lives alone" to one who "wants to live with someone."

General Kenren is a renowned warrior serving as a general in the Western Army of the Heavenly Realm. He is chivalrous and boisterous, often viewed as a problem child by the higher-ups due to his poor conduct. However, he is actually a caring and sensible person, acting as a reliable older brother figure who is adored by children and his subordinates alike. He shares a bond of deep trust with Tenpou in the Western Army. He was demoted to the Western Army and became Tenpou's subordinate following an incident involving a superior's wife.

Marshal Tenpou is the marshal of the Western Army of the Heavenly Realm. He has an intellectual appearance, with mid-length black hair, glasses, and a white lab coat. He is elusive and eccentric, famous for being a whimsical oddball who moves at his own pace. An avid reader, he is so slovenly that he neglects his surroundings when absorbed in a book, leaving his room buried in them. On the other hand, he is an exceptionally capable soldier; on the battlefield, he transforms, displaying calm judgment, sharp insight, and high combat ability. He cherishes his subordinates and is respected and trusted by them in return. While he possesses a mild and soft atmosphere, he also hides a dangerous heat, willing to defy anyone if he finds something unacceptable.

Kanzeon Bosatsu is one of the five great Bodhisattvas living in the Heavenly Realm, presiding over mercy and compassion. Though appearing as a beautiful woman, they are hermaphroditic and use a masculine first person. Contrary to their appearance, their tone is rough, and they are a free-spirited, fickle, and elusive person who acts exactly as they please. They behave so willfully that one hardly feels their high status, frequently dragging those around them into their whims, yet they also possess an unfathomable depth that sees through the heart of matters. As Konzen's aunt/uncle figure, they entrusted Goku to Konzen after he was brought from the lower world, watching over their fate. While their playful attitude usually stands out, they are not merely whimsical, possessing a deep affection and concern for Konzen and the others.