Also - When a Companion says, "We were commanded to do such-and-such..." Is this marfoo' or mawqoof?
I think it depends...
If a Companion says "We were commanded to do such-and-such..." that would be marfoo' if it can be confirmed that the one who was commanding was the Prophet, ṣallallāhu 'alayhi wa sallam.
It would be mawqoof if it was confirmed that it was another Companion who was commanding. For example, a Sahabah could say "We were commanded..." but he or she could be referring to something that was commanded under the Khilaafa of Abū Bakr, or 'Umar, 'Uthmān, 'Alee,... etc. may Allaah be pleased with all of them.