I'm pretty sure they lived with their knight, can't be positive though.
in medieval times a 'squire' was a knight's assistant.
squire
Being a Squire in medieval times
Squire
a medieval dubbing is when a squire became a kinight
A squire in medieval times served as a knight's assistant, helping with tasks such as caring for the knight's armor and weapons, tending to their horse, and accompanying them into battle.
a squire
There is no one term for that, a brave solider would be a knight, or a squire.
after serving an apprenticeship as page and squire, one can be dubbed this
The squire, the squire was a knight in training, when he reached the right age he became a knight, til that he had to assist his master/knight and learn the fighting techniques from him.
A teenager who customarily served as a knight's attendant during Medieval times was called a squire.
*medieval and it depends where you live.