Hawk52: As far as killing things Boone is the winner. There's times where you won't even see what Boone's murdered before it's dead. It's pretty refreshing considering how dumb Fallout 3's NPC's were. On Hardcore mode, Boone is never in any danger at all unless things go all to hell.
Boone died on me when we decided to raid the Legion's main base and kill Caesar. He made it all the way to Caesar's tent and then died when those half-dozen guys with souped-up power-fists ran at us. Until that point though, for a good 50 hours, Boone was a superman companion who slaughtered everything and never complained. We had a lot of fun killing legion members together.
When he died I got Cass for the endgame and she died in the dam at the end. I actually re-loaded for her though, as I wanted to see at least one companion ending.
In subsequent games I have played on not-hardcore mode so Veronic and Raul were invincible! What a marvel of modern science.