I haven't really played summoner so not sure if these really pertain to summoner.

A camp command. Tell your pet where to go, it stays there, and returns there after a knockback or whatever.

A mode called Standby, whose behavior would be like Guard but be based on whether or not your weapon was drawn.

Running with the tank? Disengage, putting your book away and pet behaves. Ready to fight, Engage, and pet goes to town.