We learn in the Lotus Sutra that these Bodhisattvas who appear from beneath the ground have trained with the Buddha since the remotest past. This is our relationship with the Eternal Buddha, not with the historical Buddha. As Bodhisattvas from underground we read the Lotus Sutra from the perspective of an infinite bond with the Buddha, as lifelong practitioners of the Eternal Buddha who have in this lifetime manifested as the beings we currently are but who underneath it all are in fact golden-hued Bodhisattvas. We have received training and are eminently qualified to carry out the lives we have and attain enlightenment in our present form. Everything we need is within us, and the Lotus Sutra is our activation code to actualize our true identities.
Lecture on the Lotus Sutra