Multiple rows to single row with multiple columns

I have a table that has information for users associated with the same company on MS SQL 2005

CompanyID | Name   |  Address  |  City   | State   |   Zip   |  Phone
         2          Name1    Address1   City1   State1    Zip1    phone1
         2          Name2    Address2  City2   State2    Zip2    phone2
         3          Name3    Address3  City3   State3    Zip3    phone3

I need to grab the users on the same company and return the data on a single row as follows

Name1 | Address1 | City1 | State1 | Zip1 |  Name2 | Address2 | City2 | State2 |  Zip2
Name1   Address1   City1   State1   Zip1   Name2   Address2   City2   State2   Zip2

Notice that the column names are numbered.
Is it possible to create a query to dynamically generate the column names with a number depending on the number of users associated to the company id (no more than 5 per company) and have a single row with all the results?

This is needed to populate a PDF that only accepts 1 row results from the query. the PDF has fields

Name1    Address1   City1   State1    Zip1    phone1
Name2    Address2  City2   State2    Zip2    phone2

Any help will be greatly appreciated.