Absolutely.
What will you do if a company changes its name? That DOES happen; as just one example, Federal Express became FedEx. If you use the name as a key, then when a company changes its name, you need to either create a new entry, effectively losing all your history, or else go through your entire application and find ALL records in ALL tables using that company name and change them. By comparison, if you join on the surrogate key (the ID fields), then you avoid that entire nightmare.
Basically, an autonumber field's entire purpose in life is to be a surrogate key to allow for easy joins between tables.
While we're at it, 'ID' is a terrible name for an ID field. You should generally include what kind of ID it is - ContactID, SupplierID, etc.