This has probably already been thought of but here are my two cents about a higher level of AI psychology / sociology.The Next Level
Now hes even more human. He knows he will die if he tries to save you, knows that every line of reasoning tells him to run away, and that he cannot help you. But he fights anyway, to the death. Out of loyalty, out of love.
It would be interesting if your AI companions would be more or less likely to stick around in a battle depending on their loyalty, which in turn depended on how well you treated them (bandaging them, taking them to the doctor, protecting them, pulling them out of battle when they collapse.) This would in turn mean that fresh recruits would be unlikely to stick around and die for you, while your seasoned veterans, that you have worked hard to train and keep alive, would be more than willing to take on 1:5 odds together with you.
The Next Level
In addition to this you could also consider more individual differences between AI characters. Put the level of individual intelligence, bravery, loyalty (to money or to a person), and other characteristics (that might vary between characters) into the equation.
A dynamic perspective?
And of course to make the game dynamic and less revolving around yourself, your AI companions might have relations to one another. Lets say one member of your elite crew has been protecting and medically tending to a fairly new recruit. The recruit might want to stick around in an especially deadly fight to keep his friend alive, if the elite member in turn collapsed, this recruit would be more than willing to pull your elite member out of the battle and desert you.
Another layer to the dynamic perspective
Lets say the recruit and the elite both make it out alive, the recruit tends to the elites immediate wounds before taking him to a city, spending his hard-earned pay on a doctor to mend the elite further. When the elite has recovered, he then proceeds to convince the recruit that the player is in fact an honorable leader, and they both end up back at your doorstep or in your camp eventually.
In conclusion
A lot of make-believe and wishful thinking in here, but hopefully (sometime much further into development) at least some sort of dynamic perspective could be introduced.
P.S Dunno if this goes in gameplay or general, move as needed.