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Lyonel is full of shit here. Other than Raymond and Baelor, everyone on Dunk's side was there for their personal Vendetta or chance to settling some score.

Lyonel joined because it's fun to stick it up to the targs, he's a flamboyant character, he doesn't care for justice and all that nonsense. If Dunk or some nameless Knight was fighting some Random Reach Lord, Lyonel wouldn't give a moment of thought. The only reason he fought was to fight the targs. So, No! LORD Lyonel, you didn't fight for Dunk, you fought to feed your own ego.

Some, amongst the best of humans would Stand up for a Random stranger in the face of danger. But Most of us would look away, let alone stand up if the danger came from our own family members.

Prince Baelor didn't have to do anything, certainly not for a nameless Knight fighting against his own family, his own brother, however the righteous the cause is, But he did, and it matters more because of it 

It reminds me of a quote Master Aemon said to Jon,

\*\*\*"We all do our duty when there is no cost to it. How easy it seems then, to walk the path of honor. Yet soon or late in every man's life comes a day when it is not easy, a day when he must choose."\*\*\* 

\*\*Baelor chose Honor.\*\*

Prince Baelor choose to stand against his own Brother for a just cause. And that's what makes him The Hero.