 If you liked
Mairimashita! Iruma-kun
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 ...then you might like
Maoujou de Oyasumi
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involves humans interacting with friendly demons
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Recommended by Timewinders
-Both main characters are humans and kidnaped by demon
-Similar humour and soundtrack
-Similar art
Both main characters are humans surrounded by demons and they go through a bunch of hilarious situations and misunderstandings
You're guaranteed to laugh if you watch either of them!
They feel very similar how the protagonist is stuck between demons. Their story is very different and i liked them both.
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Recommended by ima_monstaa
Both deal with a human fitting in with demons
Both are comedy based
Both are episodic anime, with the characters having new challenges that they face and overcome in each episode
I looked through a lot of anime to find which one was closest to what I liked about Mairmashita! Iruma-kun? and Maoujou de Oyasumi was almost a perfect match. I heavily recommend it.
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Recommended by aprilsmood
Sleepy princess in the demon castle has a similar concept to Welcome to demon school Iruma-kun, where both main characters are transported to the demon realm. So if you enjoyed the concept of Welcome to Iruma-kun you might enjoy Sleepy princess in the demon castle, it also has pretty good comedy.
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Recommended by _leviiiiiii_
I found the humor to be similar and the character of the demons (more grounded and nicer than than they would like you to believe). Both anime to watch to make you feel good without a complicated plot.
Both are lighthearted comedy’s which take part in a world where demons exist. However both of the shows focus on the cute and wholesome part instad of a brutal story. The main characters and both of the cast’s are very wholesome. These anime are good when you want to relax and just be happy. They’ll both put a smile on your face.
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Recommended by Kibo_to_zetsubo
Both feature a human character getting kidnapped by demons.
The humor for both anime is extremely similar, if you enjoy Sleepy princess you will like Iruma-kun
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Recommended by TheRockzSG