Sic is ok, but not preferred. The way sic works is, your pet will use all of their cooldowns whenever they become available, normally at the pull. While this is fine in lower level dungeons, it's not really the best way to maximize your class.

Obey is the standard. While in obey, your pet will continue to heal with embrace like normal but will not use any cooldowns. You activate these manually when it is most needed. Selene will be for your dps and tanks. Spell speed and skill speed buffs for burst. You'll know when to use these when you know each fight. Eos is if you need a little help in healing. Usually you would use Eos if you don't have a whm in the party, or you have undergeared players/don't know the dungeon well. If you're comfortable with the fight and aren't struggling to keep ppl alive, switch to Selene and buff your dps and speed things up.