The status of peasant had haunted Henry for his entire life because he had never been someone who could simply bow to it and resign himself to the fate that was given to him by society and not within his control.
As a knight, there would be periods of normalcy but if he saw someone look at him a little longer than necessary or with anything other than neutrality, he assumed it was because he was a lowborn. There wasn't another reason he could understand why someone would look to him if it wasn't one of the knights he interacted with every day.
Peasants were stereotyped to be unintelligent, so Henry was surprised when peasant knowledge came of use.
His thoughts went back to a time when he had to garner the help of other peasants to bring supplies back to their village.