Companions

[Raikonato]

How can I leave the companion in my residence?

[TheHarvester]

http://therian-saga.wikia.com/wiki/Concession

Storing items and retaining companions

Once a concession is established (even if nothing else is there), you can leave items, companions, and tamed animals at the concession. This is the only way to maintain companions and animals beyond the limit of 4 (or greater if you have purchased more companion slots) that can accompany your character. Please note that you must be physically present at your concession for storage and retention of companions and animals.

You can drag items from your backpack to the area labeled "Storage" in order to leave them at the concession. However, to leave a companion, click on their icon at the top of your screen and choose "Separate" from the list. Note: If you are not currently physically present at your concession, the Separate option will not be available!

[Balok]

A word of caution: there is also an Abandon option. This is for dropping companions you expect to never need again. You will be asked to confirm this decision, but be careful: it's right next to the Separate button and it's the same color and font, and people (including me) have made the mistake.