Maduu,
Definitely, some very good companies do go to campuses to hire freshers (choice of campuses can be their own decision) but yes, they do hire freshers.
Although, if you understand that HR is one field where huge departments are not needed, unlike sales/marketing, so the numbers always remain few in the HR department. That's why you don't have companies in bulk visiting campuses to hire HR freshers.
There are certain exceptions to this fact also where some companies do have a good number of people in HR specializing in different fields like someone in Comp & Ben, another in recruitment, one in Performance Management, someone in HR operations, someone in Training & Development, but these kinds of companies are not too many in number in India. Maximum people are found in the Recruitment Team.
Don't have the misconception that "Good Companies" hire only people with 2-3 years of experience. Although it is a personal choice of the GOOD COMPANIES to go to well-known campuses like XLRI, TISS, SIBM, SCMHRD, MHROD when it comes to fresher level hiring, but not necessarily it can be the case all the time. They can visit any campus where they think they can get quality candidates.
But in a time like today, it will be difficult for me to comment on whether this time around how many good companies or companies will really be going to campuses to hire freshers.
Why your professor says that your first job should be in a good company is because in big or good companies HR processes are very well defined, well-implemented, and well-run so the fresh person gets ample opportunity to learn new things and actually gets a very fair understanding of why something has been done and how it has been done.
Secondly, when someone spends a decent amount of time working in HR in a big brand name, then it becomes easier for him/her to cash in future either in terms of role or in terms of money or both when he plans to make a switch to another company.
Also, I would like to share with you that it is not necessary that only Good Companies or Big Companies provide Good HR Exposure. Many times some small companies also give fantastic HR exposure.