Two series of thermotropic liquid crystal copolymers (TLCPs) with different monomer structures and compositions were synthesized. The copolymers in the first series consisted of 2,5-diethoxyterephthalic acid (ETA), hydroquinone (HQ), and p-hydroxybenzoic acid (HBA), whereas those in the second series contained ETA, 2,7-dihydroxynaphthalene (DHN), and HBA. In both series, the molar ratio of HBA to the other monomers varied from 0 to 5. The thermal properties, degree of crystallinity, and stability of the liquid crystalline mesophase of the copolymers obtained at each HBA ratio were evaluated and compared. Overall, at each HBA content, the DHN-containing copolymer had better thermal properties, but the HQ-containing copolymer exhibited a higher degree of crystallinity and a more stable liquid crystalline mesophase. Furthermore, similar thermal stabilities were observed in both series. The dependence of the molecular dynamics of the TLCPs on the monomer structure was explained using 13C magic-angle spinning/cross-polarization nuclear magnetic resonance spectroscopy. An in-depth investigation of the relaxation time of each carbon revealed that the molecular motions of the TLCPs were greatly influenced by the structures of the monomers present in the main chain. The molecular dynamics of the HQ and DHN monomers in the two series were evaluated and compared.