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You can only choose one companion at a time. The level will always automatically choose the best option, of the companions you have already gathered, regarding on the level. But you are free to choose any of the other two that are next best. It may depend on if you want to use less beans or concentrate on other cropsies if you want to try another strategy in the game. I do this sometimes. It sure adds another edge to the game. Hope this clarifies your question. Enjoy!