Companions, eh?
Well, as far as New Who goes, I honestly was never that bothered by Rose. I mean, she's not my favorite or anything and she was pretty bitchy to Mickey (and, in retrospect, I guess she was pretty bitchy to other people), but I never outright hated her.
Martha was nice, but kinda bland.
Donna was awesome (as was Wilfred).
Amy was pretty enjoyable, but she did a few things I didn't like and I think she stayed as a companion for too long.
As dorky and ineffectual as he was, Rory was still pretty awesome.
Clara…well, I'll wait till the end of her run, but I like her well enough. Though, like Amy, her interest seems to have waned a bit now that her role as the "mystery girl" appears to be over.
Also, Leela is my favorite companion of Classic Who.