The 'Jedi fortune cookie' message that opens the show reads "Who's the more foolish, the fool or the fool who follows him?" This is a direct quote from Star Wars: Episode IV - A New Hope (1977) where Obi-Wan Kenobi says this to Han Solo while planning their escape from the Death Star.
C-3PO calling Hay-Zu "your worshipfulness" is likely a reference to Han Solo's usage of that nickname with Princess Leia in Star Wars: Episode IV - A New Hope (1977)