DC short-circuit current calculation for the modular multilevel converter based multi-terminal direct current (MMC-MTDC) grid is critical and fundamental in equipment selection and protection setting. The existing MTDC grid short-circuit current calculation methods suffer from low efficiency, poor adaptability, and inflexibility. To address these issues, this paper proposes an efficient and general companion circuit-based method to estimate the short-circuit currents of asymmetric bipolar MTDC grids. First, an MMC is equivalent to an RLC series circuit in parallel with a time-dependent controlled current source. The equivalent model considers not only the discharge currents of the sub-module capacitors but also the ac in-feed current determined by MMC controllers. Then, the equivalent model for a bipolar MTDC grid with the dedicated metallic return is established by combing the equivalent MMC model with the lumped model of the dc transmission lines. Next, the companion circuit method is employed to efficiently and readily solve the equivalent model of the dc grid to obtain post-fault branch currents and node voltages. Both theoretical analyses and intensive tests on the CIGRE benchmark MTDC grid and Zhangbei bipolar MTDC grid verify the improved accuracy, efficiency, adaptability, and flexibility of the presented method.