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Any emoluments paid to you by limited companies must be through PAYE channels. Most people on PAYE do not have to make a tax return.
It is, but such payments must be made through PAYE channels. The first 1K of dividend income is tax free. Ypu will most certainly have to make self assessmant tax returns unless HMRC tell you not to bother in future.
If that is the case then HMRC will advise the company to that effect. Also there are the dividends and their taxation to consider.