i had a few times where i got annoyed at my companion when they run out in front of you when your attacking someone or blocking your way (i had that happen twice tonight and the second time was by my companion so i used unrelenting force on him).
also my horse is a companion of softs (except he always wonders away when i get off for one reason or another!!)

Im sure that issue has been addressed for a future patch sometime soon. The companions need a better AI coding put into them to make them a litlle more logical about what they do and ho they act. They should implement something Dragon's Dogma has by issuing commands to your companion when to atatck when to be defensive when to be passive etc. It worked for Dragon Dogma. Was one of the best command issue systems on gaming today. Not picture perfect. Some flaws do apply. But its worth for Bethesda to look into making the AI a tad smarter and more insightful about their actions.