This is something I have been disappointed with since making Bill Lowney, that he has to wait until 6th level to ride his Wolf, when he would get the Animal Companion upgrade that makes the Wolf into a Med creature.
The way it would be solved is if there is some way to get the Mount feat/Ability on the animal, but thus far I believe only the Horse and Pony have that feat. (Another reason for Goblins to hate Horses)