Antinous was a Bithynian Greek youth and a favourite, or lover, of the Roman emperor Hadrian. He was deified after his death, being worshiped in both the Greek East and Latin West, sometimes as a god and sometimes merely as a hero.
The main reason why antinous wants to kill telemachus was that telemachus wants to marry antinous mother. They both were enganged in a battle after the incident.
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