I'd say there is a slight difference in the detail of the meeting.
Who was bringing who can be important sometimes.
They came with him is different to
he came with them... even though the end result is the same.
If I arrange to take friend A to friend B's house, and they haven't met before, A is coming to the house with me. I am not coming with A.
So which one is used depends on the circumstances. In speech people would say 'didn't' rather than did not.