I've been thinking and I might remove the Companion being knocked off from ladders by the Player (And changing the yellow book with this info about something else, like how the Player can use ladders horizontaly but not Companions).
When they quit the ladder, they get into "equivalent" states (Example: If they were following you on the ladder, they return to "FOLLOWME" on ground and viceversa with running away or idle).
But it's entering the ladder where they go to "CLIMBIDLE" by default because I thought it was safer.