Did the Companions call the Messenger of Allah, peace and blessings be upon him, by his name or his kunya during his lifetime, and is it permissible to call him by his name by saying "Ya Muhammad"?

Allah the Almighty forbids calling the Messenger by his mere name or his mere kunya, such as saying "O Abul-Qasim." Rather, he must be honored by addressing him as "O Messenger of Allah" or "O Prophet of Allah" in a low voice and with reverence, as Allah commanded in the verses: "Make not the calling of the Messenger among you as your calling one another" and "Indeed, those who lower their voices in the presence of the Messenger of Allah - those are the ones whose hearts Allah has tested for righteousness. For them is forgiveness and a great reward."