We can. Since you aren't a notable magus from a prominent family, moving around the city should be much easier for you. I would say I could follow you in spirit form to conceal my presence, but we can't communicate when I am like that. Instead, disguising myself may be better.

[The big thing was that his armor made it very, very obvious that he wasn't from the present. He stuck out like a sore thumb, which would make it easy for others to find them.

And, honestly? Modern clothes looked interesting. Bedivere wanted the chance to dress in some, but he wouldn't express that want so easily. It was better to make it sound like it was needed than to admit that it was something he wanted.]

If you want to go that route, I will try my best to blend in with whatever your living and employment situations are.

And you are correct, servants are generally human. Some may have animal companions, though.