There are class emblems you get for creating a certain class (i.e. create a titan and you get the Officer Crest). Then there are the emblems for each sub class. For example "A Song for the Sun" quest on the warlock will net you the emblem for the Sun singer class.
The "Legend of the X" quest gives you a blue class item once completed and is completed by reaching level 30.
Which emblems specifically are you trying to get?
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I'm looking for shield of the warlord, shield of the knight, symbol of the sorcerer, and symbol of the magister (titan and warlock vanguard emblems). ultimately I'm wondering why I can't access the old quests in my kiosk, but my understanding is these emblems are awarded *during* the "legend of" quest lines... which I can't get to. ugh. Help? haha