Do spirit count because Yankee Wa Isekai De Seirei Ni Aisaremasu. Has some cute companions. Isekai Ni Tobasareta Ossan Wa Doko E Iku? This one is pretty good too. S-Rank Monster no Behemoth Dakedo, Neko to Machigawarete Erufu Musume no Kishi (Pet) Toshite Kurashitemasu in this one the mc is the cute non human companion Tensei Kenja no Isekai Raifu ~Daini no Shokugyo wo Ete, Sekai Saikyou ni Narimashita~ this one has cute and silly slimes as companions. Tensei Ouji wa Daraketai this one is a personal favourite. Sorry for long list.
anyone know similar manga in which the MC goes on adventure with "pet" (companion that isn't human/half-human) ?
http://www.mangago.zone/read-manga/legend_takano_masaharu/
Here the pet is one of the cutest
http://www.mangago.zone/read-manga/gaikotsu_kishi_sama_tadaima_isekai_e_o_dekake_chuu/nbt/d_v-2-chapter-17/pg-1/
You have this one too (not cute but so cool)
http://www.mangago.zone/read-manga/tondemo_skill_de_isekai_hourou_meshi/
http://www.mangago.zone/read-manga/tondemo_skill_de_isekai_hourou_meshi/ the main character is literally weak, in a sense that he doesn't become OP, it's his companions that are OP. Lots of food porn btw, dont read if you're constantly hungry
Do spirit count because Yankee Wa Isekai De Seirei Ni Aisaremasu. Has some cute companions.
Isekai Ni Tobasareta Ossan Wa Doko E Iku? This one is pretty good too.
S-Rank Monster no Behemoth Dakedo, Neko to Machigawarete Erufu Musume no Kishi (Pet) Toshite Kurashitemasu in this one the mc is the cute non human companion
Tensei Kenja no Isekai Raifu ~Daini no Shokugyo wo Ete, Sekai Saikyou ni Narimashita~ this one has cute and silly slimes as companions.
Tensei Ouji wa Daraketai this one is a personal favourite.
Sorry for long list.