It's pretty risky to accept companions when he's trying to hide his humankin origin. Although with the demon queen supporting peace with humans publicly, it wouldn't automatically be as big a disaster as in the beastland. The demons were the top dogs, so they shouldn't hate the other races as much. The beastkin was the underdog of them all, no doubt, so their hatred toward the others was easy to explain; the demons walked all over them and the humans enslaved them.