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Ta'Farian with the first name Rasa (or R'asa or Rozza or R'ozza or some such)

I love that I can hide my helmet and see my sith's pretty red skin. Is there anyway to do that with Andronikos or any other companion?

Just click on your companion and they'll tell you if they want to talk to you or not. Ignore the prompt on the icon. At least that's whay I've been doing rather than running to my ship or a cantina to find out if they really want to talk or not.