The Emporer Hadrian, in a poem, used the phrase "...the companion of
my body and the guest of my heart..." I would like to find the
complete poem.

Hello.

The poem that you're looking for is probably Hadrian's famous "Animula
vagula blandula." Here is the original Latin:

Animula vagula blandula 
hospes comesque corporis 
quae nunc abibis 
in loca pallidula rigida nudula 
nec ut soles dabis iocos

There are numerous translations of the poem in various languages. 

A German web page [ http://home.t-online.de/home/Hanno_Kuehnert/inhalt.htm
] displays nearly 30 different translations of the poem.

Here's one translation:

"Little soul, wandering and pale, guest  
and companion of my body,  
you who will now go off to places  
pale, stiff,  and barren, nor will you  
make jokes as has been your wont."

From: http://home.t-online.de/home/Hanno_Kuehnert/animula2.htm

For the several dozen more translations, visit these pages that are
part of the same site:
http://home.t-online.de/home/Hanno_Kuehnert/animula3.htm
http://home.t-online.de/home/Hanno_Kuehnert/animula4.htm
http://home.t-online.de/home/Hanno_Kuehnert/animula5.htm
http://home.t-online.de/home/Hanno_Kuehnert/animula1.htm
   

search strategy: hadrian, companion of my body

I hope this helps.

Very helpful and complete. Response time was very fast. Thank you