Same here, my buddy and I happened to create a two-handed sword wielding warrior and a water/air mage, then we meet these 2 guys...
:o Fortunately you meet them very early in the game!
I haven't seen any *actual* companions, but you'll get to a point where you have a room where they can stay, and you can swap 'em out for other henchmen. I haven't tried it, myself, because those two companions perfectly fit the ones I made.
I know; it's one of the reasons I found it... impractical to have a companion-swapping hall where there's none to be swapped. I mean, if it's just the two of them and I choose to dismiss, just send them back to where I found them.
It's like having a huge castle just to store away your butter knife.
