So maybe your companions should level up with you? It would make companions more interactive and interesting too have while making them less of a one man army.
So please, leave your thoughts on this.
Edit: I was thinking about this and I got to thinking about the leveling up idea. I think it would be cool if you could spend skill points and stuff like that and make companions only have certain skills ( give enough variety so that it's not pointless, but don't give a Knight the ability to cast magic for example.)