General:
* Friend
* Associate
* Acquaintance
* Comrade
* Buddy
* Pal
* Partner
* Mate
* Fellow
* Chum
More formal:
* Associate
* Colleague
* Peer
* Confidante
* Aide
* Escort
* Attendant
Specific to a relationship:
* Spouse
* Partner (romantic)
* Roommate
* Housemate
* Cohabitant
For animals:
* Pet
* Animal companion
* Best friend (informal)
Other:
* Sidekick
* Travelling companion
* Guide
* Mentor
* Companion animal
The best synonym will depend on the specific context of your sentence.