A system comprises an operator control system and a plurality of manipulators configured for teleoperation by the operator control system. A first manipulator controls movement of a first medical instrument. A second manipulator controls movement of a second medical. A third manipulator controls movement of an imaging instrument. The system also comprises a processing unit configured to determine an initial position for a first badge associated with a distal end portion of the first medical instrument, determine an initial position for a second badge associated with a distal end portion of the second medical instrument, evaluate a display factor based on the initial positions of the first and second badges, determine a display position for the first badge in an 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.