I completed all of the companion quests in one playthrough ages ago. It was on my companion achievement playthrough, I thought if you hired a companion and didn't do the quest they ended up with a bad ending. I'm not sure if this is the case though.
well, for most companions, like Raul, you really have to complete the quests if you don't want them to have a bad ending
some companions
Spoiler to be more specific, Veronica and Lily
have pretty sad endings (imo) no matter what way you complete their quests, others like
have good endings as long as you complete their quests, for all the other companions, it really depends on how/if you complete their quests, and it may also depend on the outcome of the Battle of Hoover Dam