A Companion may have genuinely met the Prophet ﷺ without personally witnessing every event or hearing every statement later transmitted in that Companion’s name. This is especially relevant to those who met him at a young age and learned additional reports through others.
«من ليس له منهم سماع منه فحديثه مرسل من حيث الرواية»
If a Companion did not hear directly from him, that Companion’s report is mursal as to its mode of narration.
Here mursal of a Companion does not erase Companion status. It simply indicates that direct audition is absent for the report concerned. One should also avoid treating it as identical in every respect to a Successor’s mursal report; generations and transmission circumstances remain relevant.