The first line up of companions included school teachers (at Coal Hill School) Barbara and Ian. They started travelling with The Doctor by accident and the narrative of the first two years was The Doctor trying to get them home. The TARDIS in the early years of the show was unsteerable so this took longer than modern day viewers expected. As well as wanting to get home rather than lark about in time a lot of their stories involved them trying to get back to "the ship" to escape their current predicament. Also in one notable case they we're actually kept out of the TARDIS and blackmailed to search for the Keys of Marinus when they had planned on leaving in episode one. So straight away that's two companions who never cared for travelling and wanted to get home asap.
For a few years the companions would by and large enjoy their time in the TARDIS however a number of modern day companions Dodo, Ben and Polly would take advantage of the TARDIS arriving back in the modern day to say their goodbyes to The Doctor and depart.
We now wonder into a unique area in this category as during Jon Pertwees time we actually have UNIT and arguably a full guest cast who played characters whose job it was to be companions. Liz would leave due to wanting to go back to her career in Cambridge and Jo would leave her job with The Doctor when she fell in love. For these two (and arguably The Brig who is only off duty during later appearances) being a companion was an actual job which fitted into their lives.
Sarah would continue her career as an investigative journalist when travelling with the Doctor and Harry had a bit of fun (albeit he didn't know what he was getting into) but firmly departed to continue his life and work when Tom Baker arrived back in the modern day.
Tegan would eventually throw herself into travelling with The Doctor but remember the ongoing story of season 19 is The Doctor trying to get her to Heathrow for her first day at work.
Where things really take a turn is with Rose, The Doctor is now firmly able to control the TARDIS and as a result she's able to travel in time and keep in close contact with her family and friends. As would Martha and Donna.
Things turn a tad more homely when we get to Amy and Rory, akin to the Third Doctor companions they are able to travel, continue their lives, their careers and get married while travelling.
What conclusion does this bring me to? Well looking objectively a number of companions over the years wanted to continue on with their lives and were unable to because of The Doctor being unable to steer the TARDIS. Once we get to a more steerable TARDIS the companions who don't want to dedicate 100% of their time to The Doctor are able to strike up a time travel / life balance. Clara is by and large the companion whose balance has had the most of her life in it but rather than making her unique theres a case for saying this is the logical evolution of a companion and perhaps we'll see a further swing in this direction with future companions.
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