No, because male characters in media haven't been mostly restricted to husbands and fathers like women have to being significant others and mothers.
And because of who The Doctor's character is, that should free up plenty of time for his companions to be given character traits and development beyond being "feisty" and being defined only by their relationships to The Doctor/significant other.
There's no way he's worse off as a character than Clara, who merely existed to save The Doctor with no development as to why she would.
Martha existed to be love sick after the doctor, and to not be Rose. Rose existed to be the special girl who cared for this poor Broken man. I dont see anyone bringing RTD to task