Lutri, the Spellchaser

Companion — Each nonland card in your starting deck has a different name. (If this card is your chosen companion, you may put it into your hand from outside the game for {3} as a sorcery.)
Flash
When Lutri enters, if you cast it, copy target instant or sorcery spell you control. You may choose new targets for the copy.

Rory Williams

Partner with Amy Pond
First strike, lifelink
The Last Centurion — When you cast this spell from anywhere other than exile, exile it with three time counters on it. It gains suspend. Then investigate. (Create a Clue token. It's an artifact with "{2}, Sacrifice this token: Draw a card.")

Amy Pond

Partner with Rory Williams (When this creature enters, target player may put Rory into their hand from their library, then shuffle.)
Whenever Amy Pond deals combat damage to a player, choose a suspended card you own and remove that many time counters from it.
Doctor's companion (You can have two commanders if the other is the Doctor.)