The Sojourner's Familiar

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Familiar:

folkloric entity that is said to be a supernatural being that assists certain humans; may manifest in numerous forms, usually as an animal
In European folklore of the medieval and early modern periods, familiars (strictly familiar spirits, as "familiar" also meant just "close friend" or companion, and may be seen in the scientific name for dog, Canis familiaris) were believed to be supernatural entities, interdimensional beings, or spiritual guardians that would protect or assist witches and cunning folk in their practice of magic, divination, and spiritual insight.

[Dæmon]:
A dæmon (/ˈdiːmən/) is a type of fictional being in the Philip Pullman fantasy trilogies His Dark Materials and The Book of Dust. Dæmons are the external physical manifestation of a person's "inner-self" that takes the form of an animal. Dæmons have human intelligence, are capable of human speech—regardless of the form they take—and usually behave as though they are independent of their humans. Pre-pubescent children's dæmons can change form voluntarily to become any creature, real or imaginary. During adolescence a person's dæmon undergoes "settling", an event in which that person's dæmon permanently and involuntarily assumes the form of the animal which the person most resembles in character. Dæmons are usually of the opposite sex to their human, though same-sex dæmons do exist.