I don't think he needs any more of an intro than he has. I love the fact that you can so easily miss a companion, and that he isn't guaranteed to make it through that fight. Stuff like that makes subsequent playthroughs even more interesting.
I disagree, it's the first time you see his character. For every other companion's introduction, they have a cutscene, he gets a voicebark. It's not a proper companion introduction.
