Even though I'm a guy, I would say Pipit is one of the most favorable people in Skyward Sword. He helps you out, gives advice, and in general is a cool person to hang out with. Pipit would be considered my best friend if he existed in the real world for his gestures and personality.
I'm straight so it's harder for me but if I had to pick it would be those guys on their loftwings that save you when you accidentally fall off an island. They never fail to save you so you can count on them plus you gotta love a man in uniform. Groose is up there too. At first he is a jerk but by the end you gotta love him, kinda like Sawyer on LOST.
Pitpit defintetly! Groose is to muscular, Fledge is too weak & takes advantage of Link's kindness for Stamina potion (seriously, at least pay for one of them!), Eagus would me my 3rd choice, & Link we can't choose in this poll. Pitpit is about the same size only a bit taller, has a good attitude, & is the only other teen in Skyloft that knows how to use a sword!