Edit: quick search did not uncover a dev saying maybe, hm.. I thought they said it would be under consideration but I can say it was at least brought up before :P
Editx2: Well good sir, I found a number of requests from players but only one offical response which doesn't actually address the minion part.. Someone finish my search /gives cookie.
Quote:
Q. Please tell us what we can do with individual player housing. Can we set our minions to play around the house? Can we make greenhouses and fields?
A. Through updates, we're planning to make it possible for players to grow gysahl greens and hatch baby chocobos and raise them. Also, we’re planning underground workshops where crafters can build boats and airships.