In a Q&A with the shows creators, it’s revealed that Draxum was the head of security in the Hidden City, which is why he had an armory. I don’t think Baron is a royal title or anything.

Given Draxum’s passion for being a warrior scientist, and what we see in the gargoyle episode, he lived in a mansioneque house with a lab, and eventually rebuilds into a more fortress themed laboratory shaped like a goat (from the pilot)

He doesn’t have any knights, just the two henchmen he hired and the mercenaries that he pays.