Okay, let's clear up some confusion!
If you pledge to back a henchman you will get to design a character and yes, he or she will have a unique background and dialogue. The difference between them and companions is simply that the story line of companions will be very deep and diverse - like Dragon Commander. There will be a limited number of them because they require very very much work. We can't possible do that for every henchman.
But that is where the difference ends. You'll make the guy or girl you like; design their look; their abilities; their build; their background; what they have to say. They will feel like individuals, not puppets, it's just that they won't have separate quests.
Have another look at this video:
http://www.youtube.com/watch…Between minutes 3.04 and 3.34 you can see Axel customising a character. This is an example of how you'll be able to create a look for your hench(wo)man.
I hope this answer helps to undo the confusion!
