Shiro:
You were a prisoner on the same Galran ship as Shiro. You were in there a whole year, all alone, until Shiro came. You were both able to escape a year after his capture.

Lance:
You were a part of the blade of Marmora and you two met on a mission.

Keith:
You too were a loner at the Garrison. You knew you were different but didn't know why. You watched him doing the simulator with great amusement until he caught you watching. You talked about piloting until it was time for lights out.

Hunk:
You worked at a bakery that he often went to. You became best friends very quickly.

Matt:
You were found by Voltron and the rebels on a planet under Galran rule. Matt helped you evacuate.