It might be because ever since Firo was born, she never had anyone around her age or size to communicate with, so it is understandable.
No, the feeling I'm getting is what an owner feels for their domestic animals.
This second princess is a little surprising though.
I thought that this culture looked down on animals and such.
It might also be how she is coping with this unexpectedly long journey that she had no say in.
"Don't be too loud! We may be found."
"Okay~