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There's the Beastmaster Archetype and....... GM fiat, basically. I think there's also a half orc racial feat you can take that adds some specific critters, let me see if I can find that.
**EDIT**
Beast Rider
You gain the service of a monstrous companion or mount.
Prerequisites: Animal companion or mount class feature, character level 7th, half-orc or orc.
Benefit: Select one of the following creature types: elephant, pteranodon, rhinoceros, stegosaurus, or triceratops. Add this creature type to your list of possible animal companions or mounts. When summoning a creature of the selected type to serve as a mount or companion, treat your effective druid level as if it were two levels higher (to a maximum of your character level). If the creature is large enough for you to ride, it gains the combat training general purpose (see Handle Animal) at no cost.
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You know, I hadn't noticed how good that was before. In addition to the cool critters, it has that " When summoning a creature of the selected type to serve as a mount or companion, treat your effective druid level as if it were two levels higher (to a maximum of your character level)" which almost completely closes the Ranger gap.