They do gain talents upon leveling... ?

Sounds pretty stupid... "if you want to be weaker, use henchmen instead of companions"
What? Why would anyone want that? If henchmen and companion are mutually exclusive why pick the weaker one AND less content? That... makes no sense.

I don't recall having to add any ability points, they were pre-designed. Of course once I leveled I could give the additional ones to the points I prefered. And again; they gain talents too.

We just seem to see things different. You want 4 heroes (you can't, as mentioned, it's just the 2). I see it more *indeed* as 2 heroes having 2 less powerful people to assist them in their quest, supplement them. But not being there complete and utter equals (and nowhere in the game does it act like they are, "let me speak to your leader!" having no input in quest choices and similar.