Companions can't talk to most people anyway. That would be a waste of a Talent slot, much like Wolgraff's Escapist.
I haven't played the game yet so please excuse my ignorance but when you say companions can't talk to most people does that mean that you interact with NPCs using one of the two PCs you create? If so does this also mean that any dialogue influencing skills/abilities/talents/powers/etc. need to be taken only on one of the PCs?
