I might choose the Raptor from How to Train Your Dragon. It's got a unique personality and a special bond with its rider. The adventures they have together are just amazing.
I think I'd choose Aragorn from The Lord of the Rings. He's strong, noble, and has a sense of adventure that would make every day exciting. Plus, he's committed to doing what's right, which is a trait I really admire.
I'd want to be Katniss Everdeen from The Hunger Games. She's tough, resilient, and fights for a better world. Her determination and survival skills are inspiring.