It is okay to ask your companion to help your friends but do understand unless the situation is severe, and it directly affects you; your companions in general may not go the whole nine yards that they would do when it comes to you. They connected to you to help YOU, not spend their time assisting other people who may or may not even know their existence. We don't see the perspective that they have, they see a much bigger picture than we ever could while in this body. Demons especially love giving us lessons.