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Their greed is also a commentary on the selfishness of people in society. They are not simply sidekicks or henchmen, they have their own desires and intentions which further create tension and conflict. The greed of the two bumbling peasants allows for a much more complex relationship to develop between them, the princess, and the general (Toshiro Mifune).
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So their motivation is simply greed, which is easier to relate to and makes much more sense psychologically.
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The two peasants are not helping the princess because of loyalty or some power of the force, in fact they don't even know she's the princess! They are just doing it to get their share of 200 gold pieces which are being smuggled along with the princess. Furthermore, the dull interaction between C3PO and R2D2 pales in comparison to the hilarious comedy of Minoru Chiaki and Kamatari Fujiwara. The fierce voice that Misa Uehara brings with her to the role of the princess puts Carrie Fisher's unspectacular performance to shame. Nothing in any Hollywood action film is as exhilarating as seeing him hunt down two enemy soldiers on horseback with both his hands on the handle of his sword (not some oversized glow stick). The lead actors in Star Wars like Harrison Ford are rubbish and wooden compared to the commanding and mature performance given by Toshiro Mifune. The character don't travel in technologically advanced (and realistically impossible) pods or spaceships, but on horses and often by foot. Kurosawa's jidai-geki film does not take place in galaxies far far away, but in the mountains along feudal territory borders. The film that inspired Star Wars is it's superior in every way.