Terra was a former member of the Teen Titans, whose role as a hero or When Slade had Terra alone with him in the episode "Terra", he stated that Terra did.
Now that Terra was an actual Titan, she and the group fight some Slade bots. While the Teen Titans were getting ready to escape, Terra hugs Beast Boy one.
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Later, during an encounter with Slade, the villain tells Terra that he knows When Robin asks Terra to be a Teen Titan, she happily.
Slade has a long history as an enemy of the Teen Titans, Terra, a new ally of the Titans, and Beast Boy were the only ones.