I don't think anything of that kind was said.
Due to coop design my guess would be no. It's likely we will be meeting companions regularly (as it is the case in D:OS2) so to give player a chance to swap them if need be. They might even have waiting spots in Baldur's Gate like in Athkatla.
Frankly, having to choose your companions would be in line with Baldur's Gates - I didn't really like how newer games allow you to be buddies with everyone. Roleplaying is roleplaying dammit - pick you buddies and suffer consequences.
