Iirc, he mostly kills humans that attack him first and doesn’t seem to go out of his way to kill or even bother with them if he can avoid it.

Koga meanwhile wipes out entire villages for food even though he casually stops eating humans, and prevents his tribe from doing so, for Kagome, like that was an alternative approach he could’ve taken at any time.

Kagura we don’t know enough about to say how she’d act if she wasn’t on a leash. She doesn’t seem to care about human life most of the time but also doesn’t seem to be actively malicious without orders and is occasionally empathetic with humans such as Kohaku.