Companions don't level up. Lydia survives fights longer than J'zargo because she has twice as much health and wears Steel Armor. Oddly, although J'zargo is trained in Heavy Armor he wears only robes. If you can get J'zargo to put on some Heavy Armor he will probably be able to survive longer.
So you're saying that the Lydia I encountered at level 10 (or whatever) is the same Lydia I have at level 24? Same hp, etc? That's hard to believe... but then, I've upgraded her armor and weapons since I met her...