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I think it would be nice if you could control your pet while casting or stunned or in the other crown controls cause now you need stop casting if you wanna use your pet abilities. Or in the pvp would be really useful if you could knock your target off when you are stunned yourself. That would improve players that wanna control their pets manually instead auto.
There are some 'commands' (basically your pet bar) that you can use while casting. Ideally, you should time your contagion for when your character is occupied with something else, as this makes best use of your time in pve. Moving your pet, calling it, telling it to use one of its own abilities.. are all options while casting. Rouse, Spur, and Enkindle are stand-alone and must be used by your character. Basically, anything your character has to do an animation for is something you have to use on your own.
As far as PvP... commanding your pet while stunned/slept would be a little unfair, especially where scholar is concerned. Part of the difficulty of pvp is properly ccing one person and bursting down another. If a scholar could command their pet to throw off heals while stunned/slept, it would be unbalanced. The same goes for summoners, who can use Ifrit to assault a caster and annoy them, or make Ifrit use the two second stun to stop a person from destroying the summoner in a stunlock.
But if you can do same with auto why you can not do it manually?
Because allowing the pet to use its own AI is not efficient. For example... if you don't micro-manage Garuda, she will use Contagion whenever she wants. This isn't good because then she'll use it before all of your dots are up, or when you don't want her to use it. It's best to tell her to attack using obey, and then time Contagion to your liking. Using contagion is one of the things you can do while casting, so it wastes zero time to micro-manage. As far as PvP... I like using Ifrit for his stun. Unless I am close to the person I sent Ifrit toward, I will just use Sic... but if I have Ifrit on the person I am trying to kill, I will micro-manage as well. Saving that stun for the *perfect* time can mean the difference between killing someone or not.