Do Work Orders created for a Contact automatically link to the Company?

Do Work Orders created for a Contact automatically link to the Company?

Yes, if the Contact selected while creating a Work Order is linked to a Company, the Work Order will be automatically associated with that Company as well.
Example:  
While creating a Work Order, if you select Henry Oliver (a contact linked to the company Upcyclers ), the company details will be auto-populated, and the Work Order will be automatically linked to Upcyclers.

Notes
You can view all related records (Requests, Work Orders, Service Appointments, Estimates, Assets, Scheduled Maintenance) under the Related Lists section of the Company record.