Companion gear (Fallout 4)

I saw in the video and someone here on the screen that you can put a dog in armor and change its name .. the question is how?
and along the quest branch of the fraternity - the 3rd mission is to find a reconnaissance detachment. I found them in a ravine (next to the fortress of super mutants) some took off their armor (silt color for armor, xs) - but when I customize my SB I don't see what I removed from the corpses - except for raider II .. what for?
PS .. and, of course, it’s annoying that the weapon disappears when you remove it .... this is a huge jamb..ranchev f3, HB - the power one disappeared in the inventory, but the weapons were hanging on the body .. now - the power one like a suit, and the weapon disappears into the inventory ... xD