Heroic Warriors refers to He-Man and other heroes who protect planet Eternia and Castle Grayskull. While Eternia does have a standing militia, the Heroic Warriors are a band of loosely organized beings with unique abilities.
Among the first Heroic Warriors to be seen in the crossover series are He-Man, Man-At-Arms, Teela, Moss Man, Ram Man and Roboto. Inside the Palace of Eternos, they are alerted to a paradimensional alarm and He-Man, Moss Man and Ram Man leave to investigate. When they do not return, Man-At-Arms, Teela and Roboto go to the Swamp of Gangoon to investigate. There they discover the magically enhanced mutagen, are set upon by a mutated Trap Jaw and Mousers and meet the Ninja Turtles, who come to their aid. By The Power of PIZZA!
The Heroic Warriors gather in the storage bay at the Palace of Eternos in preparation for their battle against Skeletor, Krang, Shredder and their band of Evil Warriors. Turtles of Grayskull issue 1