How to Change AI Behavior
Go to the settings, and scroll over to your party members to alter their AI behavior. You can order them to be more passive, stay further away from fights, and only use ranged weapons. Make them play defensively since if they die, they are permanently dead. At the start of the game, this is a pretty big deal. Later in the game, once you have good armor and weapons for your teammates, it is not quite so bad.