Star Guardian Poppy do have familiars!

She has two like Star Guardian Jinx! https://2.bp.blogspot.com/-Lv9jyA2UQ0I/V-Fyv3ctjRI/AAAAAAAAUsU/mPFu2ZhUBI4WiWaCXkYqtJQA-YrQUMx2ACEw/s1600/Poppy_1920x1080.jpg They're right there in the splash, their names are: Shieldy and Whomper!

Yes, her weapons are alive like in the animes that have Magical Girls with living weapons!