There is a lounge above the docking bay at the Homeworld's zoo. This is where the Aquamarines and Topazes standby, awaiting lists of humans to "collect" for the zoo, written by the Peridots and assigned by the Agate in charge of the area-Sky Blue Agate.
These Aquamarines weren't stupid. They knew their human culture from studying the humans in the zoo, going through the various items they've confiscated, and what they've witnessed from previous visits to Earth. They knew about how humans use names to differentiate themselves from one another, which in some Aquamarines' opinions, is a much easier concept compared to the Homeworld's Facet-and-Cut numbering system. Some Aquamarines have modified their appearances to look-wardrobe wise-more like their human captives so as not to appear inconspicuous during their next rounds. But even so, their blueness is a dead giveaway.
There are three Aquamarines worth focusing on: One with a gem on her left hand-we'll call her "Lefty"; One has her gem on her upper back-she's "Backbone"; One whose gem dangles loosely from her left ear..."Earring".

We join these Aquamarines seated around a table, 'messing around' with a deck of playing cards they confiscated from their last human. It was Earring's turn to set a pair of two cards together to form another portion of the card house they were assembling. They were otherwise bored out of their gemstones.
"When's Sky Blue Agate coming with the next batch of lists?" said Lefty.
"Any time now," said Backbone.
Earring said nothing, busy trying to keep her cards standing upright.
"Aw man, I really wanna go to Earth so bad this time," complained Lefty.
Backbone's turn done, Earring picked up two more cards and went into silence so as to maintain a steady hand.
"We'll get our chance," Backbone assured.
"But can we go to Earth, for once, just for fun? I mean without a list of humans to round up?"
Earring, startled at what Lefty was saying, made one bad move, causing the house of cards to collapse on the table.
"You can't seriously be suggesting..."
"Yeah!" said Lefty, "Let's take the day off!"
"And how're we supposed to pull that off?" queried Backbone.
"Simple!" Lefty explained, "We'll just wait for Sky Blue Agate to show up with the lists, and act like we're going to gather some humans, only to give our list to a least-suspecting Aquamarine on our way out, leaving us free to go wherever we want!"
"Hmmm..." said Backbone, "Gears are turning up here! I like where this is going..."

Before Backbone could finish her thought, leaving room for Earring to say something, Sky Blue Agate arrived with another stack of lists..this stack smaller than the usual batch.
"All right, Aquamarines," said Agate, "We have fewer lists than usual today, so some of you will need to pair up with others."
Lefty, Backbone and Earring were first in line. They took the first list from the top of the stack, stepped aside, and looked at it. A whole slew of human names, complete with the Facet-and-Cut number from the Peridot who compiled it, and a signature from the Yellow Diamond, rendering it official. The three Aquamarines couldn't help but laugh.
"HA! Amateur hour!" said Backbone, "Looks like this Peridot flunked out of humanology!"
"I know, right?" said Earring, "What kind of human would name himself..." she peered over at the list Backbone was holding, "'My-Dad', 'Mailman' or 'Onion-I-think'?"
Then it was Lefty's turn to look, "At least she knows her geography. Lookit that: 'Beach City, DelMarVa'."
"You thinking what I'm thinking?" Lefty and Earring nodded at Backbone, "Let's dump this lamely-compiled list on the lamest Aquamarine we know, and take off on our own!"
The three Aquamarines turned to the Aquamarine in question: the last one in line, the one with a teardrop-shaped gem below her left eye.
"What? 'Teardrop'?" queried Lefty, "That one doesn't know Mongolia from Magnolia," she paused, "This should be fun!"

Backbone approached Teardrop, trying to look as sincere as gemly possible.
"I don't wanna make my fellow Aquamarine feel left out," said Backbone, "Here."
Teardrop took the list and studied it, while Backbone crossed her fingers.
"Hmm..." said Teardrop, "'My-Dad', Connie, 'Lars-and-Sadie', Mailman, 'Onion-I-think'...Beach City, DelMarVa, Compiled by Peridot 5XG, signed Yellow Diamond...watch out for 'Crystal Gems'...I'll do it!"
Teardrop's wings fluttered into action, and set off to find a Topaz or two. As soon as she left the room, Backbone, Lefty and Earring joined each other and jumped up and down.
"YEAH! She bought it! She bought it!" they squealed.
"Can you imagine the look on her face when she realizes there's no such human named 'My-Dad'?" laughed Earring.
"All right," said Lefty, "Let's get outta here before somebody gets wise!"
And they did.

As for Teardrop...well...if you've seen "Are You My Dad", then you know the rest.