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Because Percy doesn’t know what he’s seeing (and has been taught that he shouldn’t believe what he’s seeing), it’s natural for him to make up something that makes sense. This is why he initially describes the Minotaur as having a blanket over his head and his hands up—this is the only thing that makes sense to someone who doesn’t understand that the Minotaur is real. As Percy learns that the Minotaur and other monsters are indeed real, he simultaneously begins to trust himself more and become more secure in his identity.