travelling companions are under no requirement to actually be friends, just to travel in one another's company.
I don't know how that can be any more clear.
"I will fight my way to the bowels of the Battlespire, where I will mount Dragonne Papre, my Dragon companion. From his lair, we will take flight."
"It is as I feared. A carcass is all I have come to find. They have sealed the main gate so Papre could not escape. I am not sorrowful though, for I will be eternally reunited with Dragonne Papre."