Travelling with the Doctor can certainly be demanding, not only from the treks throughout time and space, but from the Doctor’s own expectations. Should there then be more than one companion at the same time on Doctor Who?
The Doctor demands a great deal from his companions. Whether it is the expectation that they can follow his commands instantly, or the belief that they should be as brave as he is in the face of danger, to the intellectual capacity required, it can be a lot for one person to handle. Indeed, even if the companions, at least in the current series, did not leave on such tragic terms, they may well have burned out and left on their own.
One has to imagine that the Doctor would realize this. Of anyone, he would know best how hard he pushes his companions, to the point where they may attempt to become exactly like he is. That pressure to conform to what the Doctor demands may be a reason as to why Doctor Who could look to having multiple companions once again in the future.
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We have, to some degree, seen this in NuWho. Both Mickey and Rory became companions in their own right, after initially being nothing more than the boyfriend/husband of the current companion. Then there was Captain Jack, who, even though he came and went as he pleased, could still be considered a companion of the Doctor’s. In the classic episodes of Doctor Who, multiple companions were far more prevalent, allowing the Doctor to put each into a certain role best suited to their skills.
It may be time for this dynamic to return to Doctor Who. While a second companion is not likely to be a part of Series Ten, that does not mean that one will not join in the future. After all, the Doctor did attempt to get Perkins, the chief engineer of the Orient Express, to join him aboard the TARDIS, although Clara was still his companion.
Likewise, this can help the Doctor should he lose a companion, either through their demise or when they get tired of travelling around the universe. As the Doctor tends to get moody and distant when his companions leave, having someone else on the TARDIS could keep him from falling into that same trap again.
Of course, there are potential pitfalls with having a second companion. There were times when Rory fell to the wayside when he and Amy were travelling with the Doctor, and that may well happen periodically with multiple companions. Yet, if handled properly, and with each companion given their moment to shine, adding a second companion to the mix could be a welcome change.
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With the expected changes that could be coming to Doctor Who, adding a second companion that is not just the significant other to the current companion could be an interesting shift to the dynamic. It may even be helpful to the Doctor moving forward.