This group of achievements are associated with the five companions originally available to Jedi Consular characters. There are 135 legacy points spread between 11 achievements in 5 subsections. Most of these are relatively easy so long as you play with all your companions throughout the story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Qyzen. These kills count if you recruit the companion during the Knights of the Fallen Empire expansion, or from playing the Jedi Consular story.
10 Legacy Points
This achievement is unlocked for recruiting Qyzen from the Alliance Alert Mission, Stalking the Score. You can only recruit Qyzen after recruiting Yunn. The mission needed to complete this is;
Stalking the Score
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Iresso. These kills count if you recruit the companion during the Knights of the Eternal Throne expansion, or from playing the Jedi Consular story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Nadia. These kills count if you recruit the companion during the Jedi Under Siege expansion, or from playing the Jedi Consular story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Tharan. These kills count if you recruit the companion during the Onslaught expansion, or from playing the Jedi Consular story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Zenith. These kills count if you recruit the companion during the Onslaught expansion, or from playing the Jedi Consular story.