Yes. K-9 counts. He definitely counts. He may not be a human, but he’s still a phenomenal companion. One of the things that has been missing in some of the new show companions is usefulness. It gets tiresome when companions are only around as someone for the Doctor to rescue, but K-9 rescues the Doctor more than the other way around. He also provides several comical moments with literal/figurative miscommunication. K-9 was with a couple different Doctors, but he’s most often associated with Tom Baker’s fourth Doctor.