Can you do that with companions that are forced on you for a time? Like in the Thieves Guild quest where you have to go with Mercer Frey into the Snow Veil Sanctum. You have no control over it. You're just forced to go with him, but he lets you lead, and he follows you around. He gets in the way all the time.You can tell them to go somewhere, but it's a bother to do so. A quick menu to give your companion orders would make them a lot less irritating.