The Prophet (ṣallallāhu ʿalayhi wa-sallam) came with clear guidance and the Companions believed and followed it. They followed his commands (to the best of their abilities) and they stayed away from that which the Prophet (ṣallallāhu ʿalayhi wa-sallam) commanded them to stay away from. This blessed daʿwah—al-daʿwah al-Salafīyyah—encompasses actions, beliefs, character etc.
Allāh says (what can be translated as):
وَإِنَّكَ لَعَلَىٰ خُلُقٍ عَظِيمٍ
And verily, you (O Muḥammad ṣallallāhu ʿalayhi wa-sallam) are on an exalted standard of character.
[Sūrah al-Qalam, 68:4]
and He, the most High, says (what can be translated as):
لَّقَدْ كَانَ لَكُمْ فِي رَسُولِ اللَّـهِ أُسْوَةٌ حَسَنَةٌ لِّمَن كَانَ يَرْجُو اللَّـهَ وَالْيَوْمَ الْآخِرَ وَذَكَرَ اللَّـهَ كَثِيرًا
Indeed in the Messenger of Allāh (Muḥammad ṣallallāhu ʿalayhi wa-sallam) you have a good example to follow for him who hopes in (the Meeting with) Allāh and the Last Day and remembers Allāh much.
[Sūrah al-Aḥzāb, 33:21]
In these verse, Allāh is praising the Prophet (ṣallallāhu ʿalayhi wa-sallam) for his excellent character. We need to follow the Prophet (ṣallallāhu ʿalayhi w- salām) in everything, including his character. Having good character is an act of worship that Allāh, the most high, loves. Ibn Taymīyyah mentioned: Worship is all that which Allāh loves, from the statements and actions, those that are hidden and those that are made openly.