I see...but I think that the "Companions" as you call them, should be another thing.
I mean King arthur didn't take as "human shield" Lancelot, as a personal body guard(just an example), maybe the "companions" can lead the and help infantry, chavalry and archery; leaving the job of "bodyguards" to a simple vaegir guard or everyone you want.
This can expand the tactical side even more (of course you can let the other heroes stick with you).
I mean, if you order a group of soldiers to follow you, they will just chaotically run towards you, I immagined this element as "additional hp for the hero", if you wanto to manage you army on the battlefield, even being a merchant.
If you have to position you bodyguards everytime you move I think that became complex.
Another thing, instead of army fight, why don't put the option of champion vs champion to decide who's right, then if you loose and attack or refuse to leave the city or similar you loose honor...or things like that.
