If you mean as a friend, than that'd be Rin, Jaken, and Ah-Un. Maybe Kohaku as well. He likes InuYasha and his group, although the 2 brothers don't get along. In a love kinda way, he is somewhat in love with Kagura.
Contradicting to that last statement, it seems as if Sesshomaru and Rin would be a better pair than Kagura and Sesshomaru.
The presence of Rin at his heels is proof of his growing compassion. He not only tolerates a human, but also acts in an extremely protective manner towards her and rushes to her aid when she gets in trouble.
And, it is actually the other way around with Kagura. She seems to hint romantic interest in Sesshomaru, but she dies anyway. (Spoiler).
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No, InuYasha does not beat sesshomaru and netheir does Sesshomaru beat InuYasha. In the end they dont really like each other more,but I dont think they hate each other more either.
No, in the end of the manga and anime Rin is human.
No one! Sesshomaru is too Powerful to Kill!!!
when Inuyasha first uses the wind scar successfully on Sesshomaru, Sesshomaru is warped by tensaiga to a forest where he meets Rin for the first time.
No, because kagome is not in love with sesshomaru she is in love with seeshomaru's younger brother inuyasha. Sesshomaru does not even like kagome. Inuyasha LOVES kagome. You can just tell. Course not. Sesshomaru doesn't even like Kagome.