The fact that you have to ask this question says enough. How many levels of selfish do you have to be to need on something for your companion that would be an upgrade for one of the players in your group?
I tend to agree. Perhaps not with the selfish, but generally PC needs outweigh NPC needs
Devils Advocate : considering that a companion is a big part of your game: In effect, they are what allows us to be role specialized and still quest/solo without Bioware making things super easy.
I would suggest that the above is a fair statement.
If you intend to do that, you must ( MUST! ) indicate it before you start working to the objective. That way everyone's on the level.