What Taurus wants from others are people who are self-confident and who know they can be trusted. People with whom the confidence of Taurus feels safe and secure. But Taurus also likes to have people by his side who make him laugh and with whom he can have a good time without the fear of what they will say. People who know how to get the best side of Taurus without even trying. Funny people, but with a head, who don't do anything crazy from one moment to the next. No, Taurus does not like that because it involves a risk that he is not prepared to take.
In short, Taurus wants calm people by his side, which are natural, who are very clear about what they want, and also who have a touch of fun that allows them to escape from that monotonous routine that they have.