A serious injury was sustained by Cid Warlock, yet his strong will alone allowed him to make his way back to the illegal borders of the Hive, the home of worker zergs. Despite being the lowest class of zergs, worker zergs are the most numerous. The only things that separate the worker zerg from the high-level zerg are their strength, intelligence, and capacity for transformation. These three skills are not available to worker zergs. They can be categorized as animals, pets, or high-level zerg servants at most.
Therefore, it is easy to sneak into the worker zerg village, and as long as you do not smell like humans, you can survive there. Not only can Cid Warlock blend in with the Hive with the aid of his beast, but his bloodline also makes this possible. He resembles a human more than a zerg because he is a mix of a zerg and a human with a stronger bloodline than a human.