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Companions who are super mutants, robots, or dogs don't use beds.
Approach the companion, select Command, then point at the bed and click Use bed (or whatever the verb is).
If you send a companion to live in a settlement after being dismissed they are just another settler.
As I understand- no can do.
Yes you can select them and direct them to a bed and they'll sleep on it. But they never do by themselves.
However... if the Follower loves you, they will almost always sleep in bed when you sleep.