Encourage a companion, always (5)
I believe the answer is:
cheer
'encourage' is the definition.
(I know that cheer is a type of encourage)
'a companion always' is the wordplay.
'a companion' becomes 'ch' (Companion of Honour).
'always' becomes 'eer' (poetic way of saying ever).
'ch'+'eer'='CHEER'
(Other definitions for cheer that I've seen before include "Urge on" , "Applaud with shouts" , "Applaud; mood" , "Shout of praise or joy" , "Fare" .)