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I think Esquire could be pretty cool. Go Order of the Dragon, and get Bodyguard for you and your squire. You will be able to give each some pretty good AC bonus's; if you go sword and board, your AC's will get really high. Throw on some useful teamwork feats, like Outflank, Pair Opportunists, or even Precise Strike, and you'll take care of your offense. Your companion can even take another feat for his tactician ability (I would pick Escape route, because it is situationally very useful and when you want it, you often would like EVERYBODY to have it).
Daring Champion is pretty solid (I like it better than Swashbuckler), and Constable is an interesting archetype (if you've ever wanted to make a grappler that wears full plate). There is also the Huntmaster, who gets a bird or dog instead of a mount. The Huntmaster gets proficiency in whips and nets, which are both nice weapons to have, and since they share teamwork feats with their animal companion, you can get pretty good with combat maneuvers.