The empress Azalyn Goza XVI has three handmaidens to bring her foods and attend to her needs. They appear in The Irresponsible Captain Tylor OVA and no known handmaidens in The Irresponsible Captain Tylor series.
In OVA episode: The Rule of Being 16, we can see three handmaidens bringing foods to her court and beg her to eat it. The empress refuse to eat because of her stress related to growing tension between United Planets Space Force and her kingdom.
There are three handmaiden including one head servant. Two of handmaidens' hair are dark-chocolate and one of them is blond-haired. Near the end of OVA episodes, they are imprisoned inside the Melva's prison along with the empress and Admiral Yutta Do Lonawer.