Took me a while to read through the above. This was the answer for me:
import seaborn as sns
import matplotlib.pyplot as plt
tips = sns.load_dataset("tips")
g = sns.lmplot(
x="total_bill",
y="tip",
hue="smoker",
data=tips,
legend=False
)
plt.legend(title='Smoker', loc='upper left', labels=['Hell Yeh', 'Nah Bruh'])
plt.show(g)
Reference this for more arguments: matplotlib.pyplot.legend