 If you liked
Nicola no Oyururi Makai Kikou
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 ...then you might like
Maou Kyoudai
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Little Devils and Nicola Traveling Around the Demons' World are two manga series with a human main protagonist constantly surrounded by demon characters. Both series are actually more wholesome than at first sight, as there are new sides shown to what you might think of a stereotypical demon character, and many interactions within each and any of these characters at any point are sure to make someone's day. Very sweet interactions between the adult and child characters throughout.