Is there any way you can have 2 companions at a time?

No.

There will definitely be mods allowing it, though.

I have cait and a courser as a companion. The courser is for a mission but i havent done it and not planning on doing it. He follows me everywhere now

Least they could have allowed the dog to come with you if you had a humanoid as your companion. Another fix for mods I guess.

I'm waiting on that mod with baited breath. I don't want an army, but I'd like to have at least 2 companions with me. I liked having Rex/ED-E and one other human companion.

It used to be that if you had a high enough charisma you could take multiple companions.

Fallout had no limit.

Fallout 2 it was 1 companion per 2 charisma for a max of 5

Fallout 3 you could have Dogmeat + one other.

Fallout : New Vegas you could have one humanoid and one non-humanoid.

Fallout 4 is one and one only. It's a shame they didn't stick to the same as Fallout 3.

My thoughts exactly- I have Piper and wanted dogmeat also

Oh well I am with all of you as far as waiting on a mod to fix this

Yeah it's weird that you can't take Dogmeat + another companion, considering Dogmeat doesn't count towards the Lone Wanderer perk I'd have assumed that he would accompany your character regardless. Then again I also think it's weird that I can have Dogmeat carry stuff for me.