escort vs companion

escort and companion both are nouns.

Word	Noun	Adjective	Verb	Adverb
escort	Yes	No	Yes	No
companion	Yes	No	Yes	No

As nouns, companion is a hypernym of escort; that is, companion is a word with a broader meaning than escort:

Other hypernyms of escort include associate, comrade, familiar, fellow.

escort (noun)	companion (noun)
the act of accompanying someone or something in order to protect them	a friend who is frequently in the company of another
a participant in a date	one paid to accompany or assist or live with another
someone who escorts and protects a prominent person	a traveler who accompanies you
an attendant who is employed to accompany someone

escort (verb)	companion (verb)
accompany as an escort	be a companion to somebody
conduct someone someplace