Throughout the series Zelda interacts with a fair number of people. Many of these interactions are limited to just one game, but others last over many more. As such I felt the need to write something up about those relationships as I feel them to be important to her. Here they are below.
First and foremost is Link, the protagonist and legendary hero of The Legend of Zelda series. Although how they know each other is different with each game––sometimes it's a first meeting and others they've known each other over a longer period of time––his role is always to save Hyrule and Zelda, and to defeat the evil menace in order to bring peace back to the land. However, instead of living happily ever after with the princess it always seems to end with Link leaving on some new adventure. What's up with that? Anyway, because Link is not largely shown to have much emotions––as they are all pretty much left to the player––it's hard to know what he's really thinking, but for me personally I think he puts his duty before anything else. However, I don't think that means he doesn't have any feelings for her he just feels he cannot act upon them. Of course, it could be something else entirely, but that's just what I think.
Another is Impa of the Sheikah, a tribe of shadowfolk who serve the Hyrule Royal Family. Her age and appearance tends to vary depending on the game she is appears in. In some she can appear as a short old woman and others a fierce young warrior. Regardless, Impa is always seen as Zelda's nursemaid or caretaker and is responsible for looking after her well-being. This doesn't seem to bother her at all and instead I think she has as great love for the princess. Because of this she is someone whom Zelda greatly trusts and in return Impa will do anything for Zelda. She will follow any request given to her by Zelda and trusts in her wisdom. Ocarina of Time always makes me think of this. She is the only one to believe Zelda about her dreams and does everything within her power to protect Zelda when escaping the castle. There is definitely a powerful bond between these two. It's incredible.