From Live Letter XXVIII:

A: There were some setbacks in the planning stage, but we're expecting to have this ready for Patch 3.4 as of the current schedule. However, I cannot make any promises as to whether they will be able to enter dungeons alongside you at the time they are added to the game. We're also planning to unlock the first lieutenant rank for Grand Companies at the same time. These ranks will not be ready for Patch 3.3, although there will be new Grand Company equipment.
In regards to companies, we will be adding new items that can be purchased from grand companies in Patch 3.3.
Also around that time Yoshida showed off new GC gear: http://na.finalfantasyxiv.com/pr/blog/001434.html