Rani cares a lot for her little brother. When Kion used the Roar of the Elders on him she got mad at Kion for hurting her brother. Rani even comforted Baliyo when they learned that their grandmother was passing on. They still have a prickly side to their relationship as Baliyo prefers Rani calling him her younger brother instead of little brother, as he's bigger than her.
When Baliyo and Kion first met, Baliyo thought that Kion was a threat after misunderstanding Kion's words and when Kion uses the Roar of the Elders on him. Once he got to know Kion they became really good friends. Kion would eventually becomes his sister Rani's mate, making them brothers-in-law and Kion Baliyo's king.
Surak is Baliyo's uncle. They work well together in the Night Pride to defend the Tree of Life . They mourned Janna's passing together when Baliyo nuzzled up to his uncle and Surak nuzzled back to comfort him.