The Roman historian Pollio treating Claudius with nothing but respect, including giving him perhaps the greatest advice of his life:
Pollio:Do you want to live a long and busy life, with honor at the end of it? Claudius:Yes. Pollio:Then exaggerate your limp, stammer deliberately, sham sickness frequently, let your wits wander, and play the fool as much as you like.
Early on, we see Augustus chastising Postumus, Claudius' best friend and Augustus' adopted son. Why? He threw a palace guard into a fountain for laughing at Claudius.
Of all the Imperial family, Claudius' brother Germanicus never treats him with anything but kindness and compassion.
Agrippina the Elder, the wife of Germanicus, likewise treats Claudius with respect, treating his grief at Germanicus' death as no less than her own.
"Go on playing the fool, Claudius". This is a twin moment, both for Claudius, who treats the woman who has always scorned and humiliated him with kindness and love in her dying days, and for Livia. She finally comes to realise that her bumbling grandson is perhaps the smartest of the bunch, and repeats Pollio's lesson, urging Claudius to survive for his own sake as well as for hers.
Claudius gets a moment both heartwarming and badass near the beginning of ‘Hail Who?’. After Caligula gives the order for the senators to prostitute their wives, Claudius is forced to work the door and take money. One of the senators approaches him with his wife and begs for her to be spared from the task, citing the fact that she’s just had a baby. At first, Claudius refuses and says that the emperor has ordered no exceptions. But after the poor woman gets pulled into the brothel, Claudius changes his mind, rushes in after her, pulls the emperor’s brother-in-law off her, and has him thrown out. Then he ushers the terrified woman out of the palace, promising her that he’ll make an excuse to Caligula.
Adding to the moment, Caligula’s wife Caesonia witnesses Claudius do this and tells him he's a good man.
In a curious moment, following the assassination of Caligula the Praetorians (who are angry at now being out of a job) are ransacking the palace and one of them finds Claudius hiding behind a curtain (afraid of being assassinated himself). The Guardsman thinks he's one of the assassins and makes to kill him, before his Sergeant stops him, helps Claudius to his feet and treats him very kindly, even ordering two of his men to go with him and keep him and his wife safe. ..Then they figure out they can keep their jobs by making him Emperor and it all goes sideways .
Claudius doesn't show any anger when Appius Silanus tries to murder him. He just wants to know why on earth Silanus would kill the man who raised him up. When Silanus (truthfully) starts badmouthing Messalina, on the other, he flies into a royal rage. Poor Clau-Clau-Claudius actually becomes intimidating.
The senate praising Claudius, expressing sorrow at the possibility of his death, and wishing him well, showing that he has finally gained admiration and respect from those who once shunned and mocked him.
Pretty much every scene between Claudius and Augustus. Standing out from most of his family, Augustus openly loves his grandson (not even caring too much or blaming the boy when Claudius's disabilities ruins his point of a speech trying to get several nobles to marry so to father better children for Rome) and is the only one not to underestimate him. Even in Claudius's final hallucination, amongst the others more cynical and uncaring speeches to him, Augustus alone happily congratulates him on his successes and becoming emperor as he suggested he might all those years earlier.
Claudius' final conversation with Brittanicus, where he reveals his grand plan for his son and that he does love Brittanicus. When Brittanicus admits that he doesn't want to follow Claudius' plan for a Republic and would rather fight Nero than run, Claudius decides to respect his wishes and tries to make his son the next Emperor. He knows his son will die, but lets Brittanicus make his own decisions on his future. The two part on friendly terms after years of hostility. For all of Claudius' loneliness at the end of his life, he manages to at least patch things up with his son and Brittanicus ends up mourning his death after all.