Subcortical encoding of agent-relevant associative signals for adaptive social behavior in the macaque

•Subcortical regions encode self-relevant stimulus-action-outcome signals.•Subcortical regions encode other-relevant stimulus-action-outcome signals.•Agent-relevant associative signals are integrated into social utility signals.•Social utility signals play a crucial role in adaptive social behavior.•Self- and other-relevant signals might be disorganized in neuropsychiatric disorders.