Both Allah SWT and Rasulullah SAW reciprocated the companions love and devotion.
"… God is well-pleased with them as they are well-pleased with Him. He has prepared for them Gardens under which rivers flow (Paradise), to dwell therein forever." (Quran 9:100)
Rasulullah SAW said, "The best of my nation is my generation then those who follow them and then those who follow them."
