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Heroic Warriors is a term commonly used to describe He-Man and his fellow heroes on Eternia, who defend the kingdom and Castle Grayskull against evildoers. In contrast with Eternia's standing militia, the Heroic Warriors are loosely organized and generally possess unique talents or superhuman abilities. In some continuities, most notably the early minicomics and the 2002 franchise, the Heroic Warriors are known as the "Masters of the Universe."
The Heroic Warriors presumably were formed to help Prince Adam when he finally assumed the leadership of the government of Eternia, since the Council of Elders had disappeared from Eternia by then, and Skeletor and his Evil Warriors were still a threat to the legitimate government of the planet.