A Belt
lines 1-2:
The holes are those in the belt for adjusting the circumference around one's waist according to one's comfort.
lines 3-4:
Normally, one wouldn't wear their trousers to bed and therefore also not their belt.
lines 5-6:
One's trousers may droop and potentially drag on the floor/ground without a belt.
lines 7-8:
The belt is a reliable "companion" which holds up one's trousers.
The title alludes to the function of a belt which is to hold up (or not let down) one's trousers.