Specifically in the case of Huge or Gargantuan Animals. I see that there are actually quite a few very large potential animal companions, in particular Dinosaurs. However, when I look at the rules it seems that these companions only ever get to be large in size.
The confusions is even worse when looking at the Beast Rider Archetype for Cavaliers which uses the animal companion rules specifically mentions huge animals.
I could probably figure it out on my own just fine, but I'm trying to learn the whole game, and this really isn't a high priority for me, so much as a nagging question.
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So, generally, Animal Companion stats have nothing to do with Bestiary stats. Just because an animal is one thing in the Bestiary, doesn't mean it's also that thing as an Animal Companion. AC's are unique creatures that don't necessarily follow all the same rules as their base species.
Beast Rider does get a little weird in that it has the unusual addition of
"In addition, a 7th-level or higher Medium beast rider can select any creature whose natural size is Large or Huge, provided that creature is normally available as a Medium-sized animal companion at 7th level (like a bear). To generate statistics for such a mount, apply the following modifications: Size Large; Ability Scores Str +2, Dex –2, Con +2. Increase the damage of each of the mount's natural attacks by one die size. A beast rider cannot choose a mount that is not capable of bearing his weight, that has fewer than four legs, or that has a fly speed (although the GM may allow mounts with a swim speed in certain environments)."
But all that really means is that if the creature would be Large or Huge in the Bestiary, but is available as a Medium AC at 7th level, you get a free size bump up to Large on that creature and can use it as a mount.