The very word in your question is “composite”, which means “made up of several parts or elements”. Hence, to indicate the existence of one or more compounds, the hyphen is used. Using such symbolics also helps to perceive the information more effectively. E.g. Instead of writing “composite of ZrO2 and TiO2” we can write, “ZrO2-TiO2” or “ZrO2/TiO2”.
The key concept of composites is the union of two or more materials, which alone do not have good qualities, but which, once united, have excellent properties: the hyphen that we put between the components is therefore used to mark an assembly of two or more components to form a new heterogeneous material.