When user is logged in, his extra information (custom field values) is attached to his user object. You can access it like:
$user = JFactory::getUser(); print_r($user->extra);
For example, to access your field with label companyName you will do it with:
$user->extra['companyName'];
If you want to get extra info for different users (other than the logged in one) you can do something like this:
$user = JFactory::getUser($userid); plgSystemAJAXRegister::attachExtraFields($user); print_r($user->extra);