<p>This study investigates which nonverbal cues should be prioritized in companion robot design based on users’ perceptions to enhance the quality of empathic human–robot interaction. An online survey was conducted to measure the importance of 13 signifiers that provide crucial information about the nonverbal behavior of companion robots, with data collected from 200 participants in South Korea. Exploratory factor analysis identified three distinct nonverbal cue factors—visual, tactile, and auditory. Subsequently, cluster analysis classified users into four types based on their perceived importance of these factors: Multimodal-Focused, Visual-Focused, Auditory-Focused, and Low-Engagement. Results indicate that the Multimodal-Focused type rated robots highest in perceived value and empathic interaction, while the Visual-Focused type showed the strongest intention to adopt. Interestingly, perceived value did not always align with adoption intention, highlighting the moderating role of sensory preferences. These findings underscore the need for personalized, multimodal interaction strategies in human–robot interaction and offer actionable design insights for developing companion robots that accommodate diverse user preferences and sensory profiles.</p>