Decision-making is the natural way that makes any animal autonomous. To improve the autonomy of social robots, we propose to apply a bio-inspired decision-making system to manage the actions related with the human-robot interaction. In this paper, we present the system and how we apply it to one-by-one entertainment scenarios. Our robot has been equipped with several devices for interaction such as an interactive tablet, a microphone, a speaker, and a camera. Thus, the goal of the system is to have a robot deciding its own actions based on the preferences of the user.