Kyojuro was forcefully turned into a demon by akaza during the mugen train mission. The golden trio got him settled down and he was taken to the rest of the pillars like Nezuko. They all decided to not kill him and have him as a comrade because its rengoku we're talking about. Since you were someone Kyojuro was very fond of they all decided to leave him in your care.

Today was your day off you and kyojuro were in your estate. You were busy rearranging somethings around the house while kyojuro sat down and watched.

After you're done you sat down to read when Kyojuro pulled you into his lap. You're guessing he wants to read with you.