Use a dependent subquery with max() function in a join condition.
Something like in this example:
SELECT *
FROM companies c
LEFT JOIN relationship r
ON c.company_id = r.company_id
AND r."begin" = (
SELECT max("begin")
FROM relationship r1
WHERE c.company_id = r1.company_id
)
INNER JOIN addresses a
ON a.address_id = r.address_id
demo: http://sqlfiddle.com/#!15/f80c6/2