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It's GM decision. The rules for what can and can't be ridden are vague. There's rules for riding unusual mounts, but doesn't say what can and can't be ridden. It doesn't even list a size limit, though it's inferred numerous places that a proper mount is 1-2 sizes larger than the rider, though there's a feat to ride a similarly sized creature as the rider.
Having a hawk, or similar bird ride on a PCs shoulder is pretty reasonable, but having a boar ride a human, as opposed to just being carried by one is probably stretching it a bit.
Unfortunately the rules for mounts and riding are not as robust as they should be.
So questions like yours and what happens as a result are left up to individual GMs.
There is a Pathfinder module with an encounter against velociraptor mounted goblins. The real enemy in that encounter were the mounts, which were very intelligent and didn't really need riders. The goblins of course had highly invested Ride skills, so when you struck a velociraptor the goblin rider would try to negate the hit with its "equestrian" skills.
It was a fun encounter that presented a tactical option of removing the riders from the mounts to weaken the real enemy.
Unfortunately the rules for mounts and riding are not as robust as they should be.
So questions like yours and what happens as a result are left up to individual GMs.
The answer is certainly yes, when you are talking about something sensical like Deighton Thrane pointed out with the hawk on a PC shoulder situation.
The immediate question that I have is what about the Ride mechanic do you feel is important in this kind of situation? Most/many would just gloss over the fact that an animal companion is sitting on the PCs shoulder.
Maybe there are cases where something happens to the PC and the companion needs to make a check or something to stay on the PC? Or, are you thinking something more elaborate like a Pseudodragon training its Int 3 master to carry it around?
An Orc riding atop a worg seems like a good fantasy trope to add to a battle, and indeed these is an "Orc Warg rider" monster that appears in a 3rd party book. One problem is that an Orc is a medium creature and so is the standard worg. It doesn't say anything about needing a special large-sized worg.
There is the rule of cool, of course, but there is also the rule of "it doesn't make sense if you actually think about it". :)
I'm now imagining an animal companion or familiar training up its Ride (humanoid) skill. And getting Lance proficiency. d6 damage, but when your pseudodragon familiar is now using the party's barbarian as a mount (and Barbie's been swinging her own range weapon), things can get interesting.
Or the familiar can just make its wizard charge into battle too :)
It's GM decision. The rules for what can and can't be ridden are vague. There's rules for riding unusual mounts, but doesn't say what can and can't be ridden. It doesn't even list a size limit, though it's inferred numerous places that a proper mount is 1-2 sizes larger than the rider, though there's a feat to ride a similarly sized creature as the rider.
Having a hawk, or similar bird ride on a PCs shoulder is pretty reasonable, but having a boar ride a human, as opposed to just being carried by one is probably stretching it a bit.
Absolutely... as long as the following happens.
1. The owner gets feebleminded to nonsentience.
2. The companion gets awakened to sentience.
Essentially a Planet of The Pets scenario.
I. Can't. Help. Myself!!!!!
Future generations will thank me!
My friend Charlie had a cat that was always climbing up on his shoulder and riding there. I called it their long john silver impression. Thats more of a passive riding situation.
A Drow on a wyvern hurling spells might be a passive riding situation. The Wyvern might be in control.
I think a distinction is between riding and being mounted.
A hawk can perch on your shoulder, but nothing about what the hawk does necessarily has any impact on your movements. It certainly couldn't use anything like Mounted Combat to negate hits to you. It's a passenger, nothing more.
While it is obvious that a typical humanoid riding something quadripedal, such as a horse or griffin, has an ability to work with it on many actions. The humanoid actually has ways to work alongside the creature he is riding, and can use abilities such as Mounted Combat. He is a rider, not merely a passenger.
Where is the line? Honestly, I think it has a lot to do with body shape. Humanoid, bipedal creatures are the typical "riders", while quadripedal (or similar profile, as is the case of the goblins riding velociraptors) creatures are typical for those being mounts.
If the rider/mount relation isn't what you want, though, I think the rider being one size category smaller is fine.
Totally allowable. Some mechanical ideas won't translate (Ride by attacks, etc) but roleplaying would be the function
Riding intelligent beasts is a staple fantasy trope and by Falkor anyone who says otherwise it's a boring gronk.