This statement is false. We find that the companion matrix associated with the polynomial $(x^2 + x + 1)^2 = x^4 + 2x^3 + 3x^2 + 2x + 1$ is given by
$$
A = \pmatrix{0&0&0&-1\\1&0&0&-2\\0&1&0&-3\\0&0&1&-2}.
$$
This matrix has real entries, but it satisfies $(A^2 + A + I)^2 = 0$. In fact, we find that $A^2 + A + I \neq 0$, which means that $A^2 + A + I$ is a non-zero nilpotent matrix.
For posterity: as discussed in the comments to this answer, you can get an answer in "real Jordan form", namely
$$
A = \pmatrix{C&I\\0 & C}, \quad C = \pmatrix{-1/2 & -\sqrt{3}/2\\\sqrt{3}/2& -1/2}.
$$
We could also take
$$
C = \pmatrix{0&-1\\1&-1},
$$
which is an interesting blend of approaches.
If you use another version of the real Jordan form, you might instead end up with the example
$$
A = \left[\begin{array}{cc|cc}
-1/2 & 1 & -\sqrt{3}/2 & 0\\
0 & -1/2 & 0 & -\sqrt{3}/2\\
\hline
\sqrt{3}/2 & 0 & -1/2 & 1\\
0 & \sqrt{3}/2 & 0 & -1/2
\end{array}\right].
$$