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freakofnature I don't like it when they go crazy leaving original words when they have a perfectly good translation for it, but I feel like for yuusha and maou they tend to have a bit of a different connotation, not just
a hero or
a king of demons, but specifically the legendary hero destined to fight the maou and the demon who rules and controls all others in pursuit of conquering the world.
Plus, yuusha and maou are shorter than "legendary hero" and "demon king" anyway ¯\_(ツ)_/¯