Biological organisms coupling anisotropic motion with optical properties for signaling and camouflage have inspired soft robotics. An octopus-inspired system using cholesteric liquid crystal elastomers (CLCEs) mimics camouflage, locomotion, and manipulation. An optical layer (OL) with tunable color and a mechanical layer (ML) with contrasting mechanics are integrated from the same precursor into a bonded bilayer. This system shows reversible 3D morphing (bending, twisting) with dynamic structural color changes under thermal stimuli. Symmetric/asymmetric OL/ML units enable adaptive camouflage, directional locomotion, and secure gripping, providing a basis for next-generation biomimetic soft robotic systems. This research was supported by the Korea Institute of Science and Technology institutional program (26E0352), and the Ministry of Trade, Industry & Energy (MOTIE RS-2023-00258591).