Though a short-lived show, Firefly has many beloved characters, including Inara Serra (Morena Baccarin), though she is not a member of the crew. Inara is known as a Companion, which is a high-society courtesan.
She's a fan favorite because of her inept ability to take care of herself, and she's well known as the calm observer of events, even when arguments and discontent unravel. Many fans also consider her a mother or sister figure to the crew, offering advice or a stern lecture when it's needed.