Weapon Swap for Tame Beast

I don't know if this is a bug or the way it works, we have to have the keystone "Trusted Kinship" on so we are able to swap different companion on weapon set 1 and set 2, which is not right as we don't have 2 different companions on at the same time. If we don't have the Trusted Kinship and swap weapon to get different companion it won't appear, only companion on 1 weapon set is on, the other is not.