When Allura talks to the mountain man Runan in Voltron, she is told that he used his mental powers to call forth a starfleet from another dimension to transport them away to where even Zarkon could not reach them, and that they pretended mother and son are buried there when he shows her the fake grave. The idea of multiple dimensions is carried forward into Voltron: The Third Dimension; the idea of mental powers playing a strong role in the universe continues through the character of Merla in the second season of Voltron: Defender of the Universe.
Lance: Every night I used to count the stars. I never dreamed I'd be flying among them.
Pidge: I used to count the stars too.
Lance:: How, with a computer?
In the episode of King of Beasts GoLion used to create this episode of Voltron a member of the Mao Tribe takes the unconscious Princess Fala (Alura in Voltron.) to his remote mountain village. There she tells him what actually happened to Raible's (Coran in Voltron.) wife Raiza and their son (Who was actually named Roland.). After Raible sent them off to the mountains, Raiza and Roland were killed by pursuing Galra forces. Mao tribespeople buried them together in a nearby cemetery. One year prior to the events of the episode, Galra soldiers exhumed Roland's body and took it. We learned in the previous episode that Honerva (Haggar in Voltron.) raised Roland from the dead and turned him into a Galra saboteur.
The episode of King of Beasts GoLion used to create this episode of Voltron is titled "The Last of Hys". In that episode Miss Hys (Nanny in Voltron.) is killed. She is not just wounded as is the case in Voltron. At the end of the episode Saint (Garrett in Voltron.) is shot and killed by Princess Fala (Allura in Voltron.). He is not hauled off to prison as Coran says he is in Voltron.