We study the higher-order Fermi-liquid relations of Kondo systems for arbitrary impurity-electron fillings, extending the many-body quantum theoretical approach of Yamada and Yosida. It includes, partly, a microscopic clarification of the related achievements based on Nozières' phenomenological description: Filippone, Moca, von Delft, and Mora [Phys. Rev. B 95, 165404 (2017)PRBMDO2469-995010.1103/PhysRevB.95.165404]. In our formulation, the Fermi-liquid parameters such as the quasiparticle energy, damping, and transport coefficients are related to each other through the total vertex Γ_{σσ^{'};σ^{'}σ}(ω,ω^{'};ω^{'},ω), which may be regarded as a generalized Landau quasiparticle interaction. We obtain exactly this function up to linear order with respect to the frequencies ω and ω^{'} using the antisymmetry and analytic properties. The coefficients acquire additional contributions of three-body fluctuations away from half filling through the nonlinear susceptibilities. We also apply the formulation to nonequilibrium transport through a quantum dot, and clarify how the zero-bias peak evolves in a magnetic field.