This might have the names a little off.
SELECT c.CustomerId, c.[Company Name], ISNULL(OrderSum.OrderCount,0) AS OrderCount
FROM Customers c
LEFT JOIN (SELECT CustomerId, Count(1) OrderCount
FROM Orders
GROUP BY CustomerId) OrderSum
ON c.CustomerId = OrderSum.CustomerId
WHERE ISNULL(OrderSum.Cnt, 0) < 6
ORDER BY 2