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Who were some of The Master (Doctor Who)'s companions?
Kamelion.
Was that a male or female?
CANNOTANSWER.
Did he have any other companions?
Chantho plays a similar companion role to the Professor Yana persona.
Chantho states that she has been with him for 17 years as a "devoted assistant.
Was he married?
"The Sound of Drums", the Master, as Harold Saxon, is married to Lucy Saxon, to whom he refers at one point as his "faithful companion".
Did he have any other companions?
Although not a companion in the traditional sense, the Master allied himself with another evil renegade Time Lord, the Rani.

Question: Would they be considered friends?
Self-contained rewrite: Would Doctor Who and Time Lord be considered friends?