Mawlana Shaykh Muhammad Hisham Kabbani teaches from Ibn Qayyim's al-Waabil as-Sayyib:
Sahabah were following the Prophet each according to their level of belief.
The Prophet was teaching his companions good manners.
Prophet said: The best of people are those who lived in my century.
Allah swt said: "You were the best nation sent forth to mankind."
Ibn Mas`ud described the companions: the most pious among creation, and the one's with the deepest knowledge.