So its a bug probably but nice one:
If you have a full team, you can hand out skill points to other companions, for example:
I play as Sibile, I have Red Prince Ifan and Fane and meet Lohse on level 2. If I talk to her BEFORE I remove someone from the team I will not be able to change her points and she will auto level up. BUT if I talk with her before remove someone she will say "she can not join because i have a full team" and then i will delete someone and speak again to join Loshe then i can manualy set her points on lvl 2 where i want. Seems work only if u have full party.