If the computer crashes by just plugging/unplugging the joypad without starting any 3rd party software first then it sounds like a bug with gamepad support in the USB stack in the OS itself.
If you can unplug the pad OK, but the crash occurs after first starting this Gamepad Companion thingy then it most likely is the cause and needs to be updated. You don't happen to have access to any non-xbox 360 gamepads to check with if the same thing happens by any chance?
Workaround 1:
Try putting the computer to sleep first, then unplug the joypad, see if it crashes then too.
Workaround 2:
Real men (and women, too) use mouse and keyboard to play shooter games. Not a fricken joypad. 😛