Values can be parameterized for the core DML statements SELECT, INSERT, UPDATE, and DELETE.
But identifiers (or syntax elements) cannot be parameterized anywhere in SQL. In PL/pgSQL you can use dynamic SQL with EXECUTE like Anton suggested. I.e., concatenate the whole command as string and then execute. See:
Optionally use format() for convenience:
EXECUTE format('ALTER TABLE %I ALTER COLUMN company_uuid SET NOT NULL', _r.table_name);
With the %I specifier for identifiers, unless _r.table_name is already quoted properly. See: