Meta:
I have noticed that this question in its current shape may not be far from potentially getting perceived as off-topic: as per the relevant help page, it's not far from "advice on a specific choice", and also appears to be in the scope of the guidance:
For example, "What should I do about an arrogant co-worker?" is not answerable, but "What can I say to my arrogant co-worker to ask her advice with my project?" is answerable.
This suggestion is also very valuable:
Instead of asking which decision to make, try asking how to make the decision [...]
Luckily enough, I have stumbled upon something that can contribute something in line with this latter guidance.
Answer:
You wrote:
[...] because my boss raves about how great of an employee I’ve been
This wording is an important indicator about how you truly feel about company A right now.
Should you decide to stay with them, I think you need to consider updating your attitude towards them: I mean internally, for yourself. Finding a shade of more respect towards them (and your collaboration together) could contribute to developing an atmosphere of trust, that in turn could impact your sense of job security and peace of mind in the long run.
However, it may happen that when you take this into consideration — due to background info and details known only to you — you honestly conclude that finding that improved respect / future trust with company A would be challengeful / not likely...
If this case would arise, that could give you a hint about how to move.
On the contrary however, if you find that improving your relationship with company A is feasible, you could allow @Nelson's caution to fall with more weight into consideration:
going with a new company is always a gamble
In the meanwhile you should also not ignore how you feel about the change, what your current (not past) personal preference (wish, desire, even) would be to actually happen.