A system comprising: a teleoperational assembly including an operator control system and a plurality of manipulators configured for teleoperation by the operator control system, wherein a first manipulator of the plurality of manipulators is configured to control movement of a first medical instrument in a surgical environment, a second manipulator of the plurality of manipulators is configured to control movement of a second medical instrument in the surgical environment, and a third manipulator of the plurality of manipulators is configured to control movement of an imaging instrument; and a processing unit including one or more processors, wherein the processing unit is configured to: display an image of a field of view of the surgical environment; project a position of a distal end portion of the first medical instrument into an image coordinate space; project a position of a distal end portion of the second medical instrument into the image coordinate space; determine an initial position for a first badge associated with the distal end portion of the first medical instrument; determine an initial position for a second badge associated with the distal end portion of the second medical instrument; evaluate a display factor based on the initial positions of the first and second badges by determining whether the initial position for the first badge overlaps the initial position for the second badge; determine a display position for the first badge in the image coordinate space based on the display factor; and determine a display position for the second badge in the image coordinate space based on the display factor. a teleoperational assembly including an operator control system and a plurality of manipulators configured for teleoperation by the operator control system, wherein a first manipulator of the plurality of manipulators is configured to control movement of a first medical instrument in a surgical environment, a second manipulator of the plurality of manipulators is configured to control movement of a second medical instrument in the surgical environment, and a third manipulator of the plurality of manipulators is configured to control movement of an imaging instrument; and a processing unit including one or more processors, wherein the processing unit is configured to: display an image of a field of view of the surgical environment; project a position of a distal end portion of the first medical instrument into an image coordinate space; project a position of a distal end portion of the second medical instrument into the image coordinate space; determine an initial position for a first badge associated with the distal end portion of the first medical instrument; determine an initial position for a second badge associated with the distal end portion of the second medical instrument; evaluate a display factor based on the initial positions of the first and second badges by determining whether the initial position for the first badge overlaps the initial position for the second badge; determine a display position for the first badge in the image coordinate space based on the display factor; and determine a display position for the second badge in the image coordinate space based on the display factor. display an image of a field of view of the surgical environment; project a position of a distal end portion of the first medical instrument into an image coordinate space; project a position of a distal end portion of the second medical instrument into the image coordinate space; determine an initial position for a first badge associated with the distal end portion of the first medical instrument; determine an initial position for a second badge associated with the distal end portion of the second medical instrument; evaluate a display factor based on the initial positions of the first and second badges by determining whether the initial position for the first badge overlaps the initial position for the second badge; determine a display position for the first badge in the image coordinate space based on the display factor; and determine a display position for the second badge in the image coordinate space based on the display factor.