G1: Never really noticed them except maybe Daniel "Hot Rod, look! There's a hole in the shuttle!" Witwicky who was okay.

Unicron Trilogy: Annoying for the most part, Kicker being the worst. I wouldn't trust him to manage a 7-eleven let alone broker intergalactic peace. Shut up Shinji!. To be fair though, the robots were pretty bad too. Perhaps it'd be less annoying in Japanese.

Animated: Sari was fun at first but as soon as we realised she's Cybertronian it was all "Check me out. Imma badass yo!"

Prime: The kids were fine, Jack and Raph sliding towards boring.
Fowler was just the right mix of humour, competence and exasperation.
June Darby was just Jack's mom for the most part.