Help my characters /lit

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Looking for some spit balling to help shape my characters in what I've been writing. I'm very much trying to keep them from becoming John/Jane Does so if you have any tips on how to keep me away from that please let me know.

Without going to far into the plot, the MC is a knight who is on a quest to retrieve his King's ruling essence, of which the Queen stole. The MC has to kill the Queen and take that essence back (though he himself becomes corrupted by it soooo).

Something that I've been trying to go for with the MC is, yes, chivalrous though manly so to his King. He can and does self indulge though he mainly sticks to his duty as a knight. However, in finding out that his King might not live anyway, that he's too far gone and his quest is in vain, he starts to doubt himself, his King, and his hopes for killing the Queen.

The Queen, while the main antagonist, I don't want to make inherently evil. She's very much a maternal figure but with a rough outer shell. She herself wants to rule, though she hasn't the power to do it so it will ultimately fail and she knows that but with the essence she stole from the kill she's still driven towards said goal. I want her to very much carry on with the air of, "I only want what's best for you." Sort of manipulative but also you know she's doing it from the heart. Kind of like Kathy Bates from Misery or Yukako from Jojo's Bizarre Adventures (more of a anime nerd than a book worm).

Help would be much appreciated in crafting these characters but I'm all for spitballing ideas.