Sparrow hawk from Le Guins Eathsea books, I also like the high priestess from the Tombs of Atuan in the same series.
Bilbo Bagins & Samwise Gamgee, also The Paladin from The books by Elizabeth Moon, whose name & the title of which I forget. Rustam from the Persian Tale of Kings, an intelligent version of Odesius in many ways.
Ginger