Mentioning an encounter is not enough: faith at that encounter also matters.
• A person saw the Prophet ﷺ but did not believe in him then. That encounter alone does not make the person a Companion.
• A person met a Companion but was not a Muslim then. That encounter alone does not make the person a Successor.
If the person later believed and met again, that would need to be considered separately. Here we are considering only the encounter described.