A company can only establish a pension plan for a Director/employee based on earnings. So if neither of you are being paid a salary, it is not possible to establish a company pension based on zero salary.
In addition, the amount of pension benefit you can fund is also based on the number of years service with the company (must be salaried service- not years when no salary paid).
What might be possible is for you to draw down some of the €20k, pay tax on it but then reinvest the gross amount as an AVC (and reclaim the tax relief) if you are a member of a pension scheme under your other employment (if no pension scheme then you could start a Personal Pension Plan for non-pensionable earnings). Depending on your age (I guess 30+) you could invest 20% of your €55,000 (€11,000 for two years) thus using up the €20,000. But in this case the funds are locked away until you retire.