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Is there anywhere in the rules where it is defined what rules determine what creatures can serve as mounts for other creatures?
I assume that an ogre could not charge into combat on the back of a goblin, but I haven't been able to find the actual rules that say that a mount has to be larger, have 4 legs, etc.
Many of said rules are described under the Ride Skill (CRB Chapter 4 "Skills), and others are covered under Mounted Combat (CRB Chapter 8 "Combat").
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The mounted combat rules are among the least robust in the game. Once you start treading outside the default assumptions of medium PC/large quadruped mount it can fall apart fast.
What counts as a suitable mount is largely left to the discretion of the GM.
There is a strong inference throughout the rules that a mount should (normally) be at least one size larger than the rider. This is probably most evident in the feat undersized mount.
There is a recent prestige class that permits riding a snake, and I haven't seen anything restricting a mount to being a quadruped. The rules can get a little ropey (more so than usual) with a bipedal mount so be careful with that.
There are penalties associated if the mount possesses an unusual anatomy. But technically speaking I think it's legal for a Halfling to mount a human for example (assuming the human is willing to be subjected to the rules for being mounted).
You can always refer to carrying capacity and the weight of potential riders.
Some rules are also covered in the specific creatures Bestiary entry "Elk" is one that comes to mind. But yeah, a Player's companion book that actually codifies some rules on mounts and mounted combat holistically would be nice.
