What is the correct belief concerning seeking the companionship of the Prophet, his family, and his companions in Paradise, and does this contradict seeking Allah's pleasure, closeness to Him, and seeing Him alone in Paradise?

There is no contradiction between wishing to accompany the Prophet (peace and blessings be upon him) in Paradise, seeing him, and enjoying his company, and other forms of bliss. This is because the Companions sought that, and it is among the blessings of the people of Paradise. The types of blessings for them are numerous, including food, drink, women, and the company of the Prophet (peace and blessings be upon him). The greatest and most magnificent of these is gazing upon the Face of Allah the Exalted. All of these will be attained by the people of Paradise.