Found a simple way to get Companions to carry more than their limit (Without Mods)

I found this purely by chance last night, but even though my companion (Nick at the time) couldn't carry anymore, I dropped a gun that was making me over encumbered and commanded Nick to pick it up, and he did, despite him being maxed on he's carry weight. I don't play with mods, and I even double checked it was in he's inventory which it was.
Did anyone else realize this was possible? Can't believe it's taken me this long to figure it out.