Margaret Beaufort

de bene esse: literally, of well-being, morally acceptable but subject to future validation or exception

Did Margaret have claim to the crown?

Yes, she did. The Beauforts, although born out of wedlock, were later legitimised by the act of Parliament. They were, however, excluded from the succession but when Henry VI had no sons, cousins or legitimate siblings, the Beaufort claim became important and Margaret was considered to be "next inheritable to the Crown" and why William Suffolk took her under his wardship and married her to his son. It was Margaret's first marriage, later annulled, but forever held valid by Margaret herself.
 

Was Margaret related to Henry VI?

After William Suffolk's execution, Henry VI granted wardship over Margaret to his two half-brothers, Edmund & Jasper. Only Jasper Tudor is depicted in "The White Queen".

Margaret married Edmund in 1455 and became pregnant shortly after the marriage took place. Edmund died in November 1456 and in January 1457, twelve-year-old Margaret gave birth to Henry Tudor. Henry was Henry VI's nephew and would later emphasize his ties to this king.

In short; Margaret Beaufort was related to Henry VI by marriage.
 

Was Henry Tudor always in the line of succession, as depicted in The White Queen?

It is a complex story. 

Henry VI and Margaret of Anjou had no sons for years but in October 1453 the Queen gave birth to their only son and heir, Edward of Westminster.

When Edward IV was crowned during Henry VI's lifetime, his children became heirs to the throne.

When in 1471 Edward of Westminster died, Edward IV's children had no rivals (so to speak). Henry Tudor's claim to the throne was remote and Margaret Beaufort knew that; the situation changed after the Princes in the Tower suddenly disappeared and Richard III took the crown.
 

Was she really THAT pious?

Yes, Margaret was very pious throughout her life but likely not as 'maddeningly pious' as depicted in the show.
 

Were Margaret and Jasper Tudor ... lovers?

Absolutely not! There is no shred of evidence that they had been lovers. After Edmund Tudor's death, Jasper took care of Margaret and her infant son and they lived together for a year before Margaret remarried.
 

Did Margaret love any of her husbands? None of her marriages seem happy in the show.

Margaret's marriage to Henry Stafford was quite happy, they celebrated wedding anniversaries and often traveled together; Margaret was also on good terms with Stafford's parents.

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