There was evident racism in the games where Laguz were present. 

Where Beorc constantly feared them as violent, ruthless and primitive beasts. And often would try beating and killing them at any chance possible.
This lead to Laguz to largely resenting Beorc as being a simple-minded, greedy and hateful species. Not as eager to kill Beorc mind you as Beorc were to kill Laguz, but still plenty hostile and would usually want to avoid contact with them when possible.

The only real exception to this was nobility, Laguz and Beorc nobility normally got along. To the point some saw each other as family even, but had to keep this strictly among their noble households because they both believed their people were not yet ready to accept one another.