Hello,
Instead of "adding RMS companies to RMS users" RMS works in reverse: "RMS users are added (assigned) to particular RMS company".
I.e. single RMS user can only be added to single RMS company, while multiple users could be registered to single RMS company.
Nonetheless, since RMS has hierarchical company model, you can create multiple RMS companies below your RMS company. That would mean, that your each created company (which are below your initial RMS company) would NOT be able to see each other, while you (your main company/user) would be able to see all companies below it. That would allow you to monitor/manage below companies and their devices from your single account.