ParanoidObsessive posted... Make the player WANT to recruit that character via story and scene.
Do you have an example that I can relate to? Personally, General Leo from Final Fantasy VI mighta been the only time I had really hoped he becomes a party member after his introduction and boy was I disappointed that he was just a guest character.
You bring up some good points in regards to companion characters though. Majority of the time I feel like I view companions simply as mules, "stat sticks", meat shields/distractions, and maybe for the comments they have. When I think back to Baldur's Gate II, it felt like I only got invested into the various characters after I have had some conversation with them and wanted someone of their personality in my party. Minsc might be one where right off the bat I felt I needed someone that crazy on my team.
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"You must gather your party before venturing forth"
"Go for the eyes Boo! Go for the eyes!"