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Below are known relationships of Cyborg throughout the series.

Allies

Beast Boy (best friend)

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Cyborg and Beast Boy plan some "tough times"

Their Friendship

Beast Boy is Cyborg's best friend. The two have a common interest in video games, movies and many other activities. Beast boy and Cyborg interact together in almost every episode. They call each other nicknames like bro, dude , Cy, Beastie etc. Whenever Beast Boy and Cyborg have an argument, the argument is solved quickly and they become friends fast. This shows that the friendship between Beast Boy and Cyborg is the most developed and best friendship relationship shown in the show yet. Beast Boy can sometimes be seen leaping into Cyborg's arms in fright or hiding near him. This shows that Cyborg is like a big brother to Beast Boy and they feel safe and comfortable together.

Their Relationship shown in Episodes

Cyborg and Beast Boy get along because they also have a lot of common. Despite this, Cyborg doesn't seem to find Beast Boy's pranks funny at all, as shown in "Ghostboy". He was greatly saddened by Beast Boy being kicked off the team in You're Fired, but seemed fine later, having developed feelings for his replacement, Jayna. He was surprisingly indifferent to Beast Boy being eaten in "Meatball Party" as well, however, this may have been done for comedic effect. He is seen hanging out with Beast Boy on many occasions, whether it's playing video games, going on stakeouts ("I See You") together or just playing jokes as a comedy duo. Cyborg and Beast Boy seem to care for each other's well being, as seen in "Man Person", where Cyborg goes to incredible lengths to show Beast Boy what he was doing to himself was terrible. He was willing to make Beast Boy angry at him just to help him. In fact, in "Brain Percentages", he felt very hurt when Beast Boy, who's usually friendly to him, insulted him by calling him a misfit among humans.

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An example of Beast Boy and Cyborg's relationship, with them fighting over which is better, Burgers or Burritos.

The two of them are seemingly always getting themselves into trouble. In "Lazy Sunday", Robin gets rid of the couch after Cyborg and Beast Boy abuse their "sitting privileges" with it.

In "Waffles", the duo refuses to say anything but the word "waffles", which ultimately puts their friends' lives in danger and nearly gets them killed. Finally, in "I See You", the duo attempts to spy on Raven to learn her secret. The result is them getting trapped in an alternate dimension together.

In "Smile Bones", Beast Boy and Cyborg eat with the Titans, but only inhale the food instead of savoring the taste of the food. They teach the Titans to inhale like them, but Beast Boy and Cyborg's bellies grow big, and take over the city. But before they can, the Titans defeat the Belly Bros by making Beast Boy and Cyborg savor their taste, saving the day.

Despite being best of friends, Beast Boy and Cyborg have disagreed on several occasions. In "Double Trouble", Cyborg asks Raven to clone him, so that his clone will play with Beast Boy, and he can relax. Beast Boy then replaces Cyborg with clone-Cyborg and then Cyborg tricks Raven into making a clone of Beast Boy so he can hang out with him. Soon the two of them make more clones of themselves and hide in a hotel room while the Titans' deal with all the clones.

In "Dog Hand" when Trigon threatened Beast Boy, he transformed into a mouse to hide behind Cyborg when he was scared. It's likely true that Beast Boy feels safe near his best friend.

In "You're Fired", Cyborg was upset about Beast Boy being fired and tried to get him back in the team. Cyborg also had no interests in new heroes replacing him. It's also revealed that Cyborg has a picture of Beast Boy in his body. Cyborg cried while he was touching the picture because he misses him.

In "Caged Tiger", Robin and Beast Boy, along with Cyborg, are shown hanging out as the "bros", and went on a "bro-cation" together. However after being trapped in the elevator they begin to get annoyed at one other and soon have a huge fight until the elevator is suddenly fixed during the fight. Then the three attacks Doctor Light and in the end they once again jump into “the bro train”.

In "Burger vs. Burrito", Cyborg and Beast Boy engage in an argument-turned-war over which of their favorite junk foods is better. In the end, the two realize that they both love each others food, and make up. Their friendship was reunited fast and they end up dancing together and smiling at each other.
Cyborg Comfort BB
In Man Person, Cyborg feels bad for Beast Boy that he was upset with his scar on his face. He attempts to cheer up Beast Boy after he gains a battle scar and thinks that he looks tough because of what happened to him self. But results in the two of them fighting because Cyborg is worried about how Beast Boy is handling with scars. After Cyborg convinces Beast Boy to take care of himself, the two of them engage in a "man-tage" of manly activities together. Their friendship reunited fast and they end up sitting next to each other.

In "BBRAE", "Terra-ized" and "I See You", Cyborg cares about Beast Boy's romantic relationships and helps him with his love interests.

Beast Boy Mouse on Cyborg

Beast Boy seems to feel safe near Cyborg. That means that Cyborg is like a big brother to him.

In Terra-ized, he is proud of him that he got a romantic relationship with Terra. He also comforts him about Terra being in love with him.

Beast Boy Hugs Cyborg

Beast Boy and Cyborg have a brother-like relationship. They work together most of time during crime fighting seen in "Power Moves", "Breakfast Cheese" and "The Titans Show"

In "Power Moves", Beast Boy was sad about Robin hanging out with Cyborg and this proofs that Beast Boy misses Cyborg fast like in the original show.

In Caramel Apples, Cyborg and Beast Boy were inspired by Robin’s inspiring speeches at first, but after they got injured twice after his speeches, they didn’t wanna get inspired anymore and threw him back into the center of the Earth.

In "I See You", he helps Beast Boy with trying to figure out what Raven's secret is and got excited when he thought that Raven has a crush on him.

In "Dignity of Teeth", Cyborg, Beast Boy and the girls were dumb enough to use their hair brushes to brush their teeth and such actions caused themselves to yelp in pain.

In "Croissant", Beast Boy didn't care if Cyborg was a bug. Beast Boy and Cyborg will likely always be for each other no matter what they look like, similar how Cyborg cheered Beast Boy up in "Man Person".

In The Teen Titans Go! Easter Holiday Classic, Robin and Beast Boy, along with Cyborg, get affected by the arrows of Cupid, and the three of them, gooey-eyed, begin busy impressing one another. This lasts for awhile...

In "Scary Figure Dance" they had fun together with pranking Gizmo and Billy Numerous as Ghosts.

In "Operation Dude Rescue", Robin, Beast Boy and Cyborg attempt to persuade the girls that chivalry is real, but after they end up in The Brain's jell cell, the three use time machines to summon lots of their counterparts.Then the girls and their extra girl power believe that they seem to have fun in the cell and ditch the three of them.

Beast Boy sometimes leans on Cyborg seen in "Squash and Stretch", "Boys vs Girls", "Hey You Don't Forget About Me In Your Memory" and other episodes.

In "Employee of the Month: Redux", Beast Boy saved Cyborg and they gave each other a high five.

They were both interested in each others stories in "Orangins".

Beast Boy was rooting for Cyborg in "Justice League's Next Top Talent Idol Star".

In "Career Day", they missed each other and sung the song "My Bro" to show how they feel about each other. They both had a picture of themselves together on their desks. Then they decide to merge their companies to not only expand their business, but also just to reunite with each other.
Cyborg and Beastboy friendship friend teen titans go wikia

Cyborg's and Beast Boy's Friendship

In "BBSFBDAY", he helped with the decoration for Beast Boy's birthday. He made a garland written on "Happy Birthday Beastie" with two hearts on the sides. Beast Boy also said that he likes when Cyborg ends his birthday songs with "and many more". Cyborg also drew a picture of them hugging and touching each others fingers with the sentence I love you bro underneath and Beast Boy claimed that it was a super cool drawing that stands for their life long friendship. Beast Boy was sad and he had tears when the drawing was given to Starfire.

In BBRAE, Cyborg helped Beast Boy and said that he needs to get real with Raven. Beast boy needed help with writing a song for Raven and Cyborg helped Beast Boy with ideas for his song for Raven. He used many types of food for proof if Beast Boy loves it more than Raven. The idea of Cyborg eventually worked and he was happy for Beast Boy that he loves Raven. Cyborg also cried in happiness. Cyborg also said "My Dude" when he kissed with Raven and he was cheering for him. He seems to feel happy for his best friend being in a romantic relationship.

Cyborg and Beast Boy celebrated their friendship in "BBCYFSHIPBDAY". This shows that Cyborg's and Beast Boy's friendship is important for them. They also danced together with Raven and Starfire. They told their backstory that likely made up together because Robin already told their real first interaction in "Baby Hands". They got an argument because their "Friendship Friends" was lost but they became friends again quickly. When their Friendship Friend was lost, Cyborg and Beast Boy began to threat each other differently. Even the other titans expected that something was going on. This proofs that Beast Boy and Cyborg are everyday nice to each other and that and that they tell jokes to each other. The other titans even helped to fix their friendship. At the end of the episode, they get along so well that they created a new friendship friend.

Robin (close friend)

Robin and Cyborg

Robin teaching Cyborg how to be a "real boy".

Cyborg and Robin are very good friends, and generally get along very well, although sometimes Cyborg enjoys making fun of Robin or gets mad Robin’s bad attitude. Robin often joins Cyborg and Beast Boy and hang out as "bros".

In the episodes "Caged Tiger" and "Missing", the three of them are shown partaking in bro activities together. However, in "Staff Meeting", when Robin called his staff his "best friend" Cyborg says that he thought he was his best friend.

Robin beats Cyborg up

In Power Moves, after the two of them accidentally create a power move, they begin combining everything. However Robin becomes obsessed and refuses to let Cyborg stop. Eventually it gets to the point that Robin moves inside Cyborg's body as "the ultimate power move", and begins making him perform power moves against his will. It takes the combined effort of all the other Titans to finally get Robin out.

In Caged Tiger, Robin and Beast Boy, along with Cyborg, are shown hanging out as the "bros", and went on a "bro-cation" together. However after being trapped in the elevator they begin to get annoyed at one other and soon have a huge fight until the elevator is suddenly fixed during the fight. Then the three attacks Dr. Light and in the end they once again jump into “the bro train”.

In Caramel Apples, Cyborg and Beast Boy were inspired by Robin’s inspiring speeches at first, but after they got injured twice after his speeches, they didn’t wanna get inspired anymore and threw him back into the center of the Earth.

In Real Boy Adventures, Robin teaches Cyborg what it's like to be a real boy, but only does it to take his robotic suit.

In Rocks and Water, Cyborg is a a "third wheel" on Robin and Starfire's date, where he ends up ruining any romantic chance the two had together alone by being in the middle of everything.

In Leg Day, Cyborg and Beast Boy (as Thunder Thighs and The Calf respectively) compliment Robin (Captain Cankle) for creating a chasm that destroys most of the robots.

In The Teen Titans Go! Easter Holiday Classic, Robin and Beast Boy, along with Cyborg, get affected by the arrows of Cupid, and the three of them, gooey-eyed, begin busy impressing one another. This lasts for awhile...

In "Operation Dude Rescue", Robin, Beast Boy and Cyborg attempt to persuade the girls that chivalry is real, but after they end up in The Brain's jell cell, the three use time machines to summon lots of their counterparts.Then the girls and their extra girl power believe that they seem to have fun in the cell and ditch the three of them.

In Hand Zombie, Cyborg questions Robin about the latter's hygiene issues. 3 months later, he then tried to help Robin feel better after the latter had his right hand fallen and detached from his right arm by citing Rick Allen and/or a pirate. Still, he blames Robin for almost allowing the right-hand-turned-zombie to fool him and the others thanks to his unhygienic belief on Starfire's kiss.

In Labor Day, Cyborg and the other Titans are fed up with Robin who has spoiled their beach day, and he later tosses Robin (who denies the fault) with he and the other's tote bags before leaving the latter at the snowy “beach”.

In The Academy, Cyborg and the three others are angered with the fact that Robin tries to monopolize the Teen Titans Award, but after the award is destroyed by the Academy, Cyborg is the first to encourage Robin who is crying for the loss and he then join Robin and the others to fight against the Academy.

It is then revealed, in "Flashback", that before Robin formed Teen Titans, Cyborg (Victor Stone) had been admiring and following Robin although being rejected by the former for multiple times. He even risked himself to help Robin to retrieve the tower from Kid Flash later on which resulted himself injured and became Cyborg.

In Bro-Pocalypse, Robin and Beast Boy bro'd out with Cyborg, but unfortunately later, all three of them are severely hurt. After the three boys get injured and have to stay in the tower, Beast Boy healed Robin and Cyborg's legs with his reiki and the three have bro-fists yet their injuries only become more serious. Then, Robin encourages his bros by citing the example of Tiger Woods but still doesn't work much on helping themselves to get up. In the end, they manage to reach Mount Bro-suvius for unknown reasons and brag themselves in front of the girls.

Starfire (close friend)

Starfire and Cyborg are close friends. They don't talk much to each other, but have been confronted in several episodes. It was shown in Terra-ized that he and Starfire like watching daytime talk shows together. They are also seen hanging out with each other for nearly the whole episode. Cyborg seems to trust Starfire, as seen in "Starliar", where he was convinced that Starfire never lies.
Cyborg and Starfire wit hatching egg

In Birds, after Cyborg gets harassed by The Mockingbirds, Starfire attempts to comfort him with a hug.

In Hose Water, Cyborg and Starfire are both interesting in things that the average children do. They are interested by birds and eggs and they do kid friendly activities together.

In Cool School, Cyborg and Starfire hug each other and cry together after Rose Wilson humiliates them.

Starfire found Cyborg's drawing in "BBBDAY" lovely.

In Shrimps and Prime Rib, Cyborg and Starfire happily make some paper dolls to cover a camera inside The Brain's Headquarters.

In Booby Trap House, Cyborg and Starfire are insane enough to plant the whole tower with dangerous booby traps when Robin goes on a trip with Beast Boy and Raven. They still immaturely believe that they are behaving like adults despite their traps have caused their three friends to get lots of injuries and throw into the ocean.

In The Inner Beauty of a Cactus, The Titans played Spin The Bottle and Cyborg and Starfire kissed.

In Flashback, Starfire and Cyborg are seen scribbling doodles on the glass wall of the living room in the beginning of the episode.

Raven

Cyborg begs Raven

Cyborg begs Raven to make a magical duplicate of him.

Cyborg is close friends with Raven. However, he often forces her to participate in activities she doesn't like. This was shown primarily in Meatball Party, where he forced her to eat a "cyborg meatball", resulting in her tooth being cracked open. He understands her at the end, but can't help himself when it comes to meatballs as he shoots a giant meatball at her. In later episodes they can get along a lot more.

In Starliar, when Starfire lies to Cyborg about Raven saying he chewed to loudly, Cyborg becomes extremely resentful of her. He chews a bag of chips loudly and splatters it on her hood, before sarcastically asking if she was annoyed. Later on, they get into a huge fight, along with Robin.

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Cyborg being unannoying

Cyborg intentionally being annoying towards Raven.

In Colors of Raven, Cyborg is repeatedly beaten up by Red Raven, revealing all of Raven's negative feelings towards him. At the same time, he took a liking to Pink Raven and spent the day having fun with her and Beast Boy until she accidentally sealed herself in the magical prism.

In "Nose Mouth", Raven gets sick of Cyborg's 'booyahs', and gets rid of his mouth.

In Thanksgiving, when Trigon turned Cyborg into a turkey and was preparing to eat him, Raven tries to stop her father from eating him, and told him that eating one of her friends wasn't part of the deal.

In Real Boy Adventures, after hearing Cyborg's desire to be fully human, Raven offers to make his wish come true using her magic. Cyborg is delighted to hear this and hugs Raven out of gratitude. She then performs a ritual, which causes severe pain on his part, and turns him fully in the human.

In Cool School, Cyborg tells Raven that she was like a sister to him, which flattered Raven.

In “Yearbook Madness”, after Cyborg continues to beg and even attempt to take her hood off during Picture Day, Raven hits the ceiling and goes insane, attacking and horrifying Cyborg.

In "Matched and Rocks and Water", Raven is shown to become very irritated or upset after Cyborg ruins her moments with Beast Boy.

In most episodes of Season 4, Raven and Cyborg didn't had much disagreements compared to the older seasons. In "Oregon Trail" he became extremely heartbroken upon discovering how Raven died thanks to her contracting measles, and in "BBCYFSHIPBDAY" it is shown that they also created a friendship friend.

Enemies

Brother Blood

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Cyborg annoying Brother Blood.

Brother Blood is the archenemy of Cyborg in the original Teen Titans series. In Waffles, Brother Blood is surprised to find Cyborg and Beast Boy playing a stupid game, and looks down upon them. When the duo arrives, Cyborg doesn't even wait for Brother Blood to say anything, and begins rapidly shooting at him. When Blood traps them, they both refuse to give him their codes, despite Blood thinking he can convince them. He then tortures them with his Pain Bot.

Neutral

Jinx (love interest, girlfriend)

Cyborg and Jinx in Opposites

Cyborg and Jinx

Though originally enemies, Cyborg fell in love with Jinx, even though it is forbidden for heroes and villains to date each other. In Opposites, after flattering Jinx with a gift, she fell in love with him, and they began a secret relationship. This was eventually discovered by Robin and Gizmo, and they were forced to be split up. They both switched to their opposite sides, resulting in them being enemies again. After an argument, they break up. When their friends leave, Cyborg and Jinx reconcile their relationship by kissing, continuing to date in secret.

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Cyborg asking Jinx for a dance

In later episodes, everyone from the Teen Titans and H.I.V.E. seem to accept Cyborg and Jinx's relationship.

In Be Mine, Cyborg invites Jinx to the Valentine's Day party as his Valentine. When he tries to dance with her, however, security guards tasered him, yelling, "Step away from the prisoner!". In the comic Party Party, Cyborg dances with Jinx, because both the Titans and the H.I.V.E. are too distracted by their own dance partners to notice.

In Real Boy Adventures, Jinx flirted with him and she doesn't care if 

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A close up of Cyborg and Jinx together

Cyborg is human or half robot. This shows that their Relationship is personal. When Cyborg gives Jinx 

a paper-cut during battle, he yells to her, "Sorry, babe! Put some ice on that!", implying that they are still secretly dating. Cyborg was likely forgiven because they interacted in later episodes just fine.

In "Yearbook Madness", there was a picture of them together holding hands while smiling at each other.

In "Accept the Next Proposition You Hear" Jinx looked a bit embarrassed because he flirted with her when she went to the mall with Terra.

In "The HIVE Five", Cyborg asked See-More twice if he could draw a picture of himself while he's holding Jinx.

In "How 'Bout Some Effort", he and Jinx pretended to be married and were ready to celebrate Valentines Day but Jinx becomes mad at Cyborg for getting everyone a valentines card. She wanted to spent the day with Cyborg only and Jinx was looking up for it because the day was important to her. Cyborg cried because he didn't meant to hurt Jinx's feeling. After the all the trouble, Cyborg tries to make Valentine's Day special gift for Jinx to fix the argument between them and to apologize. Cyborg eventually makes it back from The Center of the Universe with special Valentine's Day gifts and he sung her a little song. Jinx happily accepts his apology and the two embraced for several kisses, renewing their relationship. At this point, both the Titans and the H.I.V.E have already known that they are dating and seem to approve.

Cyjinx cameo in Catchin' Villains teen titans go wikia

Cyborg and Jinx's cameo in Catchin' Villains

In "Jinxed" when the Titans interrupt her Jinx still replied with "Hey Cy". And Cyborg called her babe. Cyborg apologized after he hit her with his laser blast.

Cyborg and Jinx are seen together in official artwork when Jinx is on Cyborg's back covering his eyes while smiling.

Cyborg and Jinx can be seen together in a car in Beast Boy's song "Catchin' Villains".

Gizmo  

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Cyborg's tiny single missile against Gizmo's arsenal of weapons.

As Cyborg's least favorite member of the H.I.V.E., Gizmo is always driving him crazy. In Super Robin, Cyborg shoots a tiny missile at his back, causing him to fall to the earth and land on a car.

In Breakfast Cheese, Cyborg shoots a large missile at his face. In Opposites, Gizmo forbids Jinx from dating Cyborg and calls him a robot, later Cyborg calls Gizmo "a five year old in a jet pack" in reference to his height.

In Operation Tin Man, Gizmo and Cyborg start a prank war. But in the end, they become friends until the other Titans attacked.

Wonder Woman (idol)

Cyborg is a huge fanboy of Wonder Woman. He seems to be excited to team up with her later when he joins the Justice League. He also sang the song "Shining Like Diamonds" to her.