Yes, you can set up an additional co-signer on your contract.
This means your contract will be sent to two recipients (on the client's end) and they will both need to sign it independently.
The moment you select a 'Recipient with Co-signer Signature', you'd see an additional signature block in the signatures section at the bottom of your contract. The additional signature is auto-populated with the client's company name.
Then, when you sign and send the contract, you will be asked to fill in the co-signer's email address (the client's email address will be auto pulled).
Once both the client's main contact and the co-signer sign the contract, it looks like below: