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Is there something I need to do to get it back each time he completes?
Yes, every time you send the squire off to the special mission it would disappear and you would have to get it back by using the keyword again which is acquired by having the squire at level 5 likability and >90%.
From what I recall in the past, Paladin have a separate quest to get those passive defenses, not sure if you are still able to do them now (search for "Paladin Passive Defense Quest" on that wiki you linked). If not, you can try completing the revamped g2 if you still have it.