Of course Taiki would cry if Inigo went out in a blaze of glory, he wants to cry just thinking about it. He blinks at him sadly, wishing he could do more to help.

"He is a great warrior, but you won't be a bother... I'm sure... Everyone needs someone to look out for them."

If he were any sort of useful kirin he would have shirei to send with his king, to protect him. But he doesn't and something about this world has made him even more useless than usual and so he is improvising.

It will keep Inigo safe too, for he knows that Lord Gyousou won't let any harm come to him. He can only hope that together they will get through the battle safely.