Level 2
You gain one of the following feats as a bonus feat, provided you meet all the prerequisites of the chosen feat: Combat-Trained Mount (Starfinder Alien Archive 3 140), Creature Companion Adept (Alien Archive 3 140), or Squox Companion (Starfinder Alien Archive 2 119). You obtain a level 1 creature companion or a trained Squox free of charge, who automatically has an attitude of helpful toward you.
In addition, you can have a number of bonded creature companions equal to your number of ranks in the Survival skill. However, only one creature companion (defined as an “active” creature companion) at a time can accompany you on an adventure.
Source
Starfinder Enhanced pg. 100