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The vassals required to give their king land. They could also give the king food, water and a sword.
The barons were the lowest level of titled nobility. The were above free men, and below earls (in England, called counts elsewhere), marquesses, dukes, and princes, in order from lowest to highest rank. Because there were a fair number of them and they all had their own knights, they were able to do such things as pressure King John of England into signing the Magna Carta.
At the very bottom. They had no freedom and no one below them.
They were like landlords (sort of). The peasants harvested food and cultivated the land, then they gave it to their lord (aka Barons) as tax. The Barons also provided protection against barbarian invasion with his knights. In the feudal pyramid, king and queen first, then barons along with the church, the knights then finally the peasants.
They used to give the King advice. Basically they were the Barons. Sometimes they used t rebel against the King to keep them happy