They slept on straw, or, if the situation was a little better, animal skins.
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The relationship between the knight and his peasants is the manorial system.
The SERFS, followed by the peasants.
One thing you could bet with assurance is that medieval peasants did not have tea. For supper, they probably had porridge or stew and bread.
They were usually farm workers.
Many medieval peasants starved. However, during the medieval era the church served as a large social organization. It would have tried to feed the starving masses and move them to a different area where there was food and work.