Have you tried having the Pet Pal character run way ahead to trigger Sir Lora while the non-one stays far behind?
If you tried that and it still happens, then is your non-Pet Pal the person hosting the game? It could be the case that Sir Lora is coded so poorly that it auto-latches onto the host.
In any case, Sir Lora is considered a Companion, and so only Avatars can talk with him. I recommend using a Free Pet Pal mod because forcing the main to take Pet Pal is totally obnoxious.