Cats have humans as companions.
This, but I’d actually say rather than making it dumber, just accept that it’s a sentient follower or a Fey spirit that takes the form of a primal version of one of the forest races.Hmm...maybe insects? Other, dumber animals? We're animals too so what animals are to us is basically what animals are to animals. Animals follow our lead because we provide food and shelter. Maybe an animal that can eat the scraps of a wolf like a vulture or a hyena?

(Dungeons & Dragons)
Rulebook featuring "high magic" options, including a host of new spells.