Each randomly generated character gets a title attached to their name (the accursed, the lucky, the horsethief, etc) and it’s through these titles that we can assess how good each individual companion is. Taleworlds has said they intend to expand on this system in the near future, but that doesn’t mean there aren't’ companions that aren’t clearly better than others in the game right now. This means that companions will be randomly generated for each game rather than having named companions with unique backstories.
In its current state, Bannerlord doesn’t have a fully implemented companion system.