While Paya was born after Zelda sealed Ganon in Hyrule Castle, she has heard stories about her from Impa and respected her. Meeting with Link whom Paya found attractive and develops feelings for however, caused her to become slightly jealous of Zelda. Later on Paya comes to accept that while she may never be with Link, she is content with knowing what love for someone feels like, indicating that she dropped any feelings of jealousy towards the princess.
When Zelda's power failed to awaken on Mount Lanayru, Urbosa told Zelda not to give up hope as she did all she could and noted Mount Lanayru wasn't her last shot as anything could spark her powers to awaken. When Ganon appeared Urbosa initially wanted to take Zelda to safety but Zelda refused wanting to fight alongside her comrades even without her powers which Urbosa did not object to, understanding and respecting Zelda's desire to stand alongside them against Ganon along with her courage and sense of duty. Ultimately Urbosa was correct about Zelda's powers as the spark she spoke of occurred when Zelda selflessly tried to shield the exhausted Link from an attacking Guardian saving Zelda and Link. Even In death, Urbosa continued to support Link and Zelda as a spirit once freed from Thunderblight Ganon's imprisonment.
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