No, I do not want you to attack the damn horse, I want you to get on it, why is that so hard?

I've come to enjoy the time spent traveling to my destination rather than teleporting to it. It's gotten me some achievements and a lot more skill increases that I wouldn't have had, as well as unexpected quests and items.

I currently have a companion following me which is a new thing for me and I'd like to speed up the traveling process by riding a horse there, but I can't get my companion to ride one with me. All she wants to do is kill it.